Control for Automated Trailer Backup
2017-01-0040
03/28/2017
- Event
- 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.
- 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.