Back Driving Assistant for Passenger Cars with Trailer

This paper focuses on control strategies that are needed to stabilise a backing trailer and steer it into the desired direction. A model of the trailer and the car is used in order to calculate the desired steering wheel angle. An important constraint is that the driver should not be disturbed by the steering intervention. Measurements are done with a prototype car with an active front steering system. The results show that the drivers manage to fulfill the given driving task faster and with less steering wheel activity than without the assistant.