Sensors 2013, 13(4), 4485-4498; doi:10.3390/s130404485
Article

Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit

Received: 4 October 2012; in revised form: 8 March 2013 / Accepted: 26 March 2013 / Published: 3 April 2013
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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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MDPI and ACS Style

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.

AMA Style

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.

Chicago/Turabian Style

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.

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