Control of a car with a trailer using the Driver Assistance System

Jae Il Roh, Hyunsuk Lee, Woo Jin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages2890-2895
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 2011 Dec 72011 Dec 11

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period11/12/711/12/11

Fingerprint

Light trailers
Railroad cars
Parking
Motion control
Trucks
Kinematics
Computer keyboards
Manual control
Costs
Hardware

Keywords

  • Driver Assistance
  • Motion control
  • Tractor
  • Trailer

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Cite this

Roh, J. I., Lee, H., & Chung, W. J. (2011). Control of a car with a trailer using the Driver Assistance System. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 2890-2895). [6181744] https://doi.org/10.1109/ROBIO.2011.6181744

Control of a car with a trailer using the Driver Assistance System. / Roh, Jae Il; Lee, Hyunsuk; Chung, Woo Jin.

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 2890-2895 6181744.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Roh, JI, Lee, H & Chung, WJ 2011, Control of a car with a trailer using the Driver Assistance System. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181744, pp. 2890-2895, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 11/12/7. https://doi.org/10.1109/ROBIO.2011.6181744
Roh JI, Lee H, Chung WJ. Control of a car with a trailer using the Driver Assistance System. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 2890-2895. 6181744 https://doi.org/10.1109/ROBIO.2011.6181744
Roh, Jae Il ; Lee, Hyunsuk ; Chung, Woo Jin. / Control of a car with a trailer using the Driver Assistance System. 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. pp. 2890-2895
@inproceedings{9aa5439e24e147d49ae6f8a0271af071,
title = "Control of a car with a trailer using the Driver Assistance System",
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 = "Driver Assistance, Motion control, Tractor, Trailer",
author = "Roh, {Jae Il} and Hyunsuk Lee and Chung, {Woo Jin}",
year = "2011",
month = "12",
day = "1",
doi = "10.1109/ROBIO.2011.6181744",
language = "English",
isbn = "9781457721373",
pages = "2890--2895",
booktitle = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011",

}

TY - GEN

T1 - Control of a car with a trailer using the Driver Assistance System

AU - Roh, Jae Il

AU - Lee, Hyunsuk

AU - Chung, Woo Jin

PY - 2011/12/1

Y1 - 2011/12/1

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

SP - 2890

EP - 2895

BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

ER -