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Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit
Dpto. Ingeniería de Sistemas y Automática, Universidad de Málaga, 29071 Málaga, Spain
* Author to whom correspondence should be addressed.
Received: 4 October 2012; in revised form: 8 March 2013 / Accepted: 26 March 2013 / Published: 3 April 2013
Abstract: Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.
Keywords: driver assistance system; articulated vehicles; curvature limitations; virtual tractor; trailer; drive-by-wire; jackknife avoidance
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Morales, J.; Mandow, A.; Martínez, J.L.; Reina, A.J.; García-Cerezo, A. Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit. Sensors 2013, 13, 4485-4498.
Morales J, Mandow A, Martínez JL, Reina AJ, García-Cerezo A. Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit. Sensors. 2013; 13(4):4485-4498.
Morales, Jesús; Mandow, Anthony; Martínez, Jorge L.; Reina, Antonio J.; García-Cerezo, Alfonso. 2013. "Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit." Sensors 13, no. 4: 4485-4498.