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Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit.

Morales J, Mandow A, Martínez JL, Reina AJ, García-Cerezo A - Sensors (Basel) (2013)

Bottom Line: The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel.This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches.The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

View Article: PubMed Central - PubMed

Affiliation: Departamento Ingeniería de Sistemas y Automática, Universidad de Málaga, 29071 Málaga, Spain. jesus.morales@uma.es

ABSTRACT
Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

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Related in: MedlinePlus

Examples of multi-trailer systems: Baggage carriers in an airport (left) and a tourist road train (right).
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f1-sensors-13-04485: Examples of multi-trailer systems: Baggage carriers in an airport (left) and a tourist road train (right).

Mentions: The position of hitches is relevant when pushing or pulling trailers [14]: A trailer hitch is “on-axle” if it lies on the preceding unit's rear axle, and is “off-axle” otherwise. For example, most caravans have a passive off-axle hitch. Furthermore, combinations of passive on- and off-axle trailers are frequent in vehicles such as airport luggage carriers and tourist road trains, whose wagons are usually made up of a front off-axle trailer and a rear on-axle trailer (see Figure 1).


Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit.

Morales J, Mandow A, Martínez JL, Reina AJ, García-Cerezo A - Sensors (Basel) (2013)

Examples of multi-trailer systems: Baggage carriers in an airport (left) and a tourist road train (right).
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC3673095&req=5

f1-sensors-13-04485: Examples of multi-trailer systems: Baggage carriers in an airport (left) and a tourist road train (right).
Mentions: The position of hitches is relevant when pushing or pulling trailers [14]: A trailer hitch is “on-axle” if it lies on the preceding unit's rear axle, and is “off-axle” otherwise. For example, most caravans have a passive off-axle hitch. Furthermore, combinations of passive on- and off-axle trailers are frequent in vehicles such as airport luggage carriers and tourist road trains, whose wagons are usually made up of a front off-axle trailer and a rear on-axle trailer (see Figure 1).

Bottom Line: The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel.This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches.The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

View Article: PubMed Central - PubMed

Affiliation: Departamento Ingeniería de Sistemas y Automática, Universidad de Málaga, 29071 Málaga, Spain. jesus.morales@uma.es

ABSTRACT
Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

Show MeSH
Related in: MedlinePlus