대형 트랙터-트레일러 차량의 경로 추종을 위한 조향 제어

Abstract

The ADAS(Advanced Driver Assistance System) and Autonomous Vehicle technologies offer the convenience and safety to many drivers. And, general passenger vehicles have reached a high standard of automation. However, the tractor-trailer vehicles are driven manually. Especially, backward motion of tractor-trailer vehicle is a burden to the driver. This paper considers the steering controller design applied to a backward motion assistance system for tractor-trailer vehicles. The proposed algorithm was evaluated by simulation and the results show that the proposed algorithm can effectively control the tractor-trailer vehicle in the case of backward driving.