DocumentCode :
1727399
Title :
Control of a car with a trailer using the Driver Assistance System
Author :
Roh, Jae Il ; Lee, Hyunsuk ; Chung, Woojin
Author_Institution :
Sch. of Mech. Eng., Korea Univ., Seoul, South Korea
fYear :
2011
Firstpage :
2890
Lastpage :
2895
Abstract :
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.
Keywords :
automobiles; motion control; vehicle dynamics; car control; car parking problem; driver assistance system; kinematic configuration design; motion control; passive trailer systems; pushing trailers; Equations; Joining processes; Joints; Kinematics; Motion control; Vehicles; Wheels; Driver Assistance; Motion control; Tractor; Trailer;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
Type :
conf
DOI :
10.1109/ROBIO.2011.6181744
Filename :
6181744
Link To Document :
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