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research-article

Implementation of Reversing Control on a Doubly-Articulated Vehicle

[+] Author and Article Information
Amy J. Rimmer

University of Cambridge Cambridge United Kingdom
amyrimmer@gmail.com

David Cebon

University of Cambridge Cambridge United Kingdom
dc@eng.cam.ac.uk

1Corresponding author.

ASME doi:10.1115/1.4035456 History: Received May 02, 2016; Revised December 04, 2016

Abstract

The problem of reversing vehicles with two trailers could be solved with a semi-autonomous assistance system for automatically steering the vehicle. In the literature found, no controllers have been implemented on a full-size vehicle with two trailers. In this paper, two simple path-tracking controllers are presented for automating the reversing of a ‘B-double’ vehicle, consisting of a tractor and two trailers. One of the controllers is a heuristic ‘preview point’ controller; the other uses a state feedback approach. The controllers steer the wheels on the front axle so as to stabilise the vehicle in reverse and control the path of the rearmost axle to follow a prescribed path. A tuning strategy is outlined where both controllers are tuned using the Linear Quadratic Regulator and have the same closed-loop poles. The two controllers are implemented on a full-size B-double test vehicle. Experimental results are discussed and the controller performances are evaluated against a criteria. With the state feedback controller, the test vehicle was able to track target paths, consisting of a roundabout and a lane change, to within 50mm.

Copyright (c) 2016 by ASME
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