Reversing Control of a Car with a Trailer Using the Driver Assistance System

International Journal of Advanced Robotic Systems

关键词: Trailer;    Motion control;    Driver Assistance;    Tractor;   

DOI  :  10.5772/10578

学科分类：自动化工程

来源: InTech

【 摘 要 】

Passive trailer systems provide a variety of advantages in delivery and transportation applications. The transportation capacity of the truck with multiple trailers can be increased in proportion to the number of trailers. The cost of the car with trailers is much lower than the cost of multiple cars. However, the major drawback of the trailer system is that the control problem is difficult. We concentrate on the motion control problem of “pushing” trailers because pushing is much more difficult than “pulling”. In this paper, it is shown how the car with passive trailers can be easily controlled by the use of the proposed driver assist system and the motion control scheme. Since the keypad is the only additional device for the driver assist system, the proposed scheme can be implemented with the conventional trucks without many hardware modifications. The manual control strategy of pushing is established. The kinematic design of the passive trailer is adopted from the prior work (Park and Chung, 2004). Th...

【 授权许可】

CC BY