Estimation of trailer off-tracking using visual odometry
de Saxe, Christopher Charles
Vehicle System Dynamics
Taylor & Francis
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de Saxe, C. C., & Cebon, D. Estimation of trailer off-tracking using visual odometry. Vehicle System Dynamics https://doi.org/10.1080/00423114.2018.1484498
High Capacity Vehicles (HCVs) have been shown to be highly effective in reducing emissions associated with road freight transport. However, the reduced manoeuvrability of long vehicles often necessitates the use of active trailer steering. Path-following trailer steering systems are very effective in this regard, but are currently limited to on-highway applications due to the manner in which trailer off-tracking is estimated. In this work, a novel trailer off- tracking measurement concept is introduced which is independent of wheel slip and ground surface conditions, and requires no additional sensor measurements or parameter data from the tractor. The concept utilises a stereo camera pair affixed to the trailer and a visual odometry-based algorithm to calculate off-tracking. The concept was evaluated in detailed simulation and full-scale vehicle tests, demonstrating its feasibility and highlighting some important characteristics. RMS measurement errors of 0.11-0.12 m (3.3-3.6%) were obtained in a challenging visual environment.
Off-tracking; Trailer steering; Visual odometry; Stereo vision; Articulated vehicles
Is supplemented by: https://doi.org/10.17863/CAM.24098
CSIR, South Africa; Cambridge Commonwealth, European and International Trust, UK; Cambridge Vehicle Dynamics Consortium.
External DOI: https://doi.org/10.1080/00423114.2018.1484498
This record's URL: https://www.repository.cam.ac.uk/handle/1810/277247
Attribution 4.0 International
Licence URL: http://creativecommons.org/licenses/by/4.0/
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