Articulation Angle Estimation and Control for Reversing Articulated Vehicles

Abstract

The ADAS (Advanced Driver Assistance System) and Autonomous Vehicle technologies can offer the convenience and safety to many drivers. While passenger vehicles have been adopting various versions of driving assistance, the tractor-trailer vehicles are being 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 is evaluated in simulations and the results show that the proposed algorithm can effectively control the tractor-trailer vehicle in the case of backward driving.