Limits...
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

Forward driving with the off/on axle setup: paths of the tractor and trailers (left); hitch angles with corresponding mechanical limits (top right); driver commands and curvature limitations (bottom right).
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f9-sensors-13-04485: Forward driving with the off/on axle setup: paths of the tractor and trailers (left); hitch angles with corresponding mechanical limits (top right); driver commands and curvature limitations (bottom right).

Mentions: In the case study experiments, the driver visually follows a lane delimited by red cones with an approximate width of 3 m and about 60 m long, which includes two 90° turns. This lane has been overprinted on the photographs of the outdoor experiment site shown in Figure 6. For reverse motion, the same lane is followed in the opposite direction. Two different zones have to be traversed: a smooth paved road and an irregular soil terrain. The presented results correspond to the driver using the remote ADAS to tele-operate the vehicle with both two-trailer setups. With each setup, the driver first steered backwards (Figures 7 and 8) and then returned with forward motion (Figures 9 and 10). The corresponding videos are available as supplementary files.


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)

Forward driving with the off/on axle setup: paths of the tractor and trailers (left); hitch angles with corresponding mechanical limits (top right); driver commands and curvature limitations (bottom right).
© Copyright Policy
Related In: Results  -  Collection

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

f9-sensors-13-04485: Forward driving with the off/on axle setup: paths of the tractor and trailers (left); hitch angles with corresponding mechanical limits (top right); driver commands and curvature limitations (bottom right).
Mentions: In the case study experiments, the driver visually follows a lane delimited by red cones with an approximate width of 3 m and about 60 m long, which includes two 90° turns. This lane has been overprinted on the photographs of the outdoor experiment site shown in Figure 6. For reverse motion, the same lane is followed in the opposite direction. Two different zones have to be traversed: a smooth paved road and an irregular soil terrain. The presented results correspond to the driver using the remote ADAS to tele-operate the vehicle with both two-trailer setups. With each setup, the driver first steered backwards (Figures 7 and 8) and then returned with forward motion (Figures 9 and 10). The corresponding videos are available as supplementary files.

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