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.

Language

  • English

Media Info

Subject/Index Terms

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