Control for Automated Trailer Backup
We propose a steering controller for automated trailer backup, which can be used on tractor-trailer configurations including fifth wheel campers and gooseneck style trailers. The controller steers the trailer based on real-time driver issued trailer curvature commands. We give a stability proof for the hierarchical control system, and demonstrate robustness under a specific set of modeling errors. Simulation results are provided along with experimental data from a full-size pickup truck and 5th wheel trailer.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/01487191
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Supplemental Notes:
- Abstract reprinted with permission of SAE International.
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Authors:
- Hafner , Michael
- Pilutti, Thomas
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Conference:
- WCX™ 17: SAE World Congress Experience
- Location: Detroit Michigan, United States
- Date: 2017-4-4 to 2017-4-6
- Publication Date: 2017-3-28
Language
- English
Media Info
- Media Type: Web
- Features: References;
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Serial:
- SAE Technical Paper
- Publisher: Society of Automotive Engineers (SAE)
- ISSN: 0148-7191
- EISSN: 2688-3627
- Serial URL: http://papers.sae.org/
Subject/Index Terms
- TRT Terms: Automated vehicle control; Automatic controllers; Backing (Driving); Driver support systems; Optics; Pickup trucks; Sensors; Simulation; Steering; Trailers
- Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;
Filing Info
- Accession Number: 01644461
- Record Type: Publication
- Source Agency: SAE International
- Report/Paper Numbers: 2017-01-0040
- Files: TRIS, SAE
- Created Date: Mar 30 2017 9:35AM