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dc.contributor.authorDe Saxe, Christopher
dc.contributor.authorCebon, David
dc.date.accessioned2018-06-19T11:53:45Z
dc.date.available2018-06-19T11:53:45Z
dc.date.issued2019-05-04
dc.identifier.issn1744-5159
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/277247
dc.description.abstractHigh 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.
dc.description.sponsorshipCSIR, South Africa; Cambridge Commonwealth, European and International Trust, UK; Cambridge Vehicle Dynamics Consortium.
dc.publisherTaylor & Francis
dc.rightsAttribution 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectOff-tracking; Trailer steering; Visual odometry; Stereo vision; Articulated vehicles
dc.titleEstimation of trailer off-tracking using visual odometry
dc.typeArticle
prism.publicationNameVehicle System Dynamics
dc.identifier.doi10.17863/CAM.24540
dcterms.dateAccepted2018-06-08
rioxxterms.versionofrecord10.1080/00423114.2018.1484498
rioxxterms.versionVoR
rioxxterms.licenseref.urihttp://creativecommons.org/licenses/by/4.0/
rioxxterms.licenseref.startdate2018-06-08
dc.contributor.orcidDe Saxe, Christopher [0000-0002-9458-809X]
dc.contributor.orcidCebon, David [0000-0003-2828-6445]
dc.identifier.eissn1744-5159
rioxxterms.typeJournal Article/Review
pubs.funder-project-idEngineering and Physical Sciences Research Council (EP/D004152/1)
pubs.funder-project-idEngineering and Physical Sciences Research Council (EP/K00915X/1)
pubs.funder-project-idEngineering and Physical Sciences Research Council (EP/R035199/1)
cam.issuedOnline2018-06-18
datacite.issupplementedby.doi10.17863/CAM.24098


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Attribution 4.0 International
Except where otherwise noted, this item's licence is described as Attribution 4.0 International