Theory and practice of reversing control on multiply-articulated vehicles


Change log
Authors
Rimmer, AJ 
Abstract

jats:p A path-tracking controller is presented for automating the reversing of multiply-articulated vehicles. This uses a state feedback approach and steers the wheels of the front axle to ensure that the rearmost vehicle unit tracks a specified path. Linear closed-loop analysis is performed and shows that the controller is stable for vehicles with up to six trailers. The controller is implemented on three full-size experimental heavy vehicles: a ‘tractor–semitrailer’, a ‘B-double’ vehicle and a ‘B-triple’ vehicle, which have one trailer, two trailers and three trailers respectively. Experimental results are presented and the controller performance is evaluated. All test vehicles were able to track the paths to within 400 mm of the desired path. </jats:p>

Description
Keywords
Reversing, articulated vehicle, path tracking, control, trailer
Journal Title
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
Conference Name
Journal ISSN
0954-4070
2041-2991
Volume Title
Publisher
SAGE Publications
Sponsorship
This research was funded by the Engineering and Physical Sciences Research Council (EPSRC) and Volvo Trucks through an Industrial CASE award. The authors would like to acknowledge Leo Laine and Carl-Johan Hoel from Volvo Trucks for their collaboration and contributions to the research.