TY - GEN
T1 - Control of a car with a trailer using the Driver Assistance System
AU - Roh, Jae Il
AU - Lee, Hyunsuk
AU - Chung, Woojin
PY - 2011
Y1 - 2011
N2 - Passive trailer systems provide a variety of advantages in delivery and transportation applications. The transportation capacity of the truck with multiple trailers can be increased in proportion to the number of trailers. The cost of the car with trailers is much lower than the cost of multiple cars. However, the major drawback of the trailer system is that the control problem is difficult. We concentrate on the motion control problem of "pushing" trailers because pushing is much more difficult than "pulling". In this paper, it is shown how the car with passive trailers can be easily controlled by the use of the proposed driver assist system and the motion control scheme. Since the keypad is the only additional device for the driver assist system, the proposed scheme can be implemented with the conventional trucks without many hardware modifications. The manual control strategy of pushing is established. The kinematic design of the passive trailer is adopted from the prior work (Park and Chung, 2004). The kinematic configuration design of the car with trailers is proposed for pushing control. The usefulness of the proposed scheme is experimentally verified with the small scale car with trailer system for the car parking problem. The parking control requires forward and reverse motion in narrow environment. It is shown that even beginners can easily control the pushing motion with the proposed scheme.
AB - Passive trailer systems provide a variety of advantages in delivery and transportation applications. The transportation capacity of the truck with multiple trailers can be increased in proportion to the number of trailers. The cost of the car with trailers is much lower than the cost of multiple cars. However, the major drawback of the trailer system is that the control problem is difficult. We concentrate on the motion control problem of "pushing" trailers because pushing is much more difficult than "pulling". In this paper, it is shown how the car with passive trailers can be easily controlled by the use of the proposed driver assist system and the motion control scheme. Since the keypad is the only additional device for the driver assist system, the proposed scheme can be implemented with the conventional trucks without many hardware modifications. The manual control strategy of pushing is established. The kinematic design of the passive trailer is adopted from the prior work (Park and Chung, 2004). The kinematic configuration design of the car with trailers is proposed for pushing control. The usefulness of the proposed scheme is experimentally verified with the small scale car with trailer system for the car parking problem. The parking control requires forward and reverse motion in narrow environment. It is shown that even beginners can easily control the pushing motion with the proposed scheme.
KW - Driver Assistance
KW - Motion control
KW - Tractor
KW - Trailer
UR - http://www.scopus.com/inward/record.url?scp=84860733277&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84860733277&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2011.6181744
DO - 10.1109/ROBIO.2011.6181744
M3 - Conference contribution
AN - SCOPUS:84860733277
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 2890
EP - 2895
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -