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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

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* ,
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Dpto. Ingeniería de Sistemas y Automática, Universidad de Málaga, 29071 Málaga, Spain
* Author to whom correspondence should be addressed.
Received: 4 October 2012 / Revised: 8 March 2013 / Accepted: 26 March 2013 / Published: 3 April 2013
(This article belongs to the Special Issue New Trends towards Automatic Vehicle Control and Perception Systems)
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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 driver assistance system; articulated vehicles; curvature limitations; virtual tractor; trailer; drive-by-wire; jackknife avoidance
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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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.

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