Minimum Parking Maneuvers for Articulated Vehicles with One-Axle Trailers

The kinematic behavior of articulated vehicles is complex and hard to control. This coincides with the perception of unskilled drivers, e.g., when they back up their car and the attached caravan. An integrated semi-automated driving assistance system would be very convenient for such situations. The realization of a system for backup assistance raises questions ranging from the theory of kinematics to the human-machine interaction. In this paper we focus on the fundamental question of the minimum maneuver for parallel parking. This question is discussed from its theoretical background to the practical integration into a respective assistance system