Reversing control of a car with a trailer using a driver assistance system

Jaeil Roh, Woojin Chung

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

6 Citations (Scopus)

Abstract

A passive trailer system can be used efficiently for transportation tasks. However, backward motion control of a trailer system is difficult because it is an open loop unstable system. In our previous researches, we have shown that n passive trailers can be successfully controlled by an ommni-directional or a two-wheel-differential mobile robot. However, a passive trailer system pulled by a car is widely used in practical environments. Unlike mobile robots, a car-like mobile robot has nonholonomic constraints and limitation of the steering angle. In this paper, we tried to solve the backward motion control problem of the trailer system with a car by proposing two strategies. First, we proposed Driver Assistance System (DAS). By using the DAS, a driver can control the trailer system as a forward motion control instead of a backward motion control directly. A driver only secure the rear view of the last passive trailer, and select the control input to drive the last passive trailer. The DAS converts the control input of a driver into the velocity and a steering angle of a car by inverse kinematics. The DAS can be achieved combining several electronic devices which are recently embedded in a car in general. Second, we proposed a kinematic configuration which is connecting a passive trailer to the front bumper of a car for increasing the feasible region of backward motion control. Performances of the proposed control strategy and the kinematic configuration are verified by theoretical verifications and experimental results.

Original languageEnglish
Title of host publication2010 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2010 - Conference Proceedings
Pages99-104
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2010 - Seoul, Korea, Republic of
Duration: 2010 Oct 262010 Oct 28

Publication series

NameProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN (Print)2162-7568
ISSN (Electronic)2162-7576

Other

Other2010 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2010
CountryKorea, Republic of
CitySeoul
Period10/10/2610/10/28

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Social Sciences (miscellaneous)

Cite this

Roh, J., & Chung, W. (2010). Reversing control of a car with a trailer using a driver assistance system. In 2010 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2010 - Conference Proceedings (pp. 99-104). [5680046] (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). https://doi.org/10.1109/ARSO.2010.5680046