Control for Automated Trailer Backup

2017-01-0040

03/28/2017

Event
WCX™ 17: SAE World Congress Experience
Authors Abstract
Content
We propose a steering controller for automated trailer backup, which can be used on tractor-trailer configurations including fifth wheel campers and gooseneck style trailers. The controller steers the trailer based on real-time driver issued trailer curvature commands. We give a stability proof for the hierarchical control system, and demonstrate robustness under a specific set of modeling errors. Simulation results are provided along with experimental data from a full-size pickup truck and 5th wheel trailer.
Meta TagsDetails
DOI
https://doi.org/10.4271/2017-01-0040
Pages
6
Citation
Hafner, M., and Pilutti, T., "Control for Automated Trailer Backup," SAE Technical Paper 2017-01-0040, 2017, https://doi.org/10.4271/2017-01-0040.
Additional Details
Publisher
Published
Mar 28, 2017
Product Code
2017-01-0040
Content Type
Technical Paper
Language
English