Driver Assistance System for Backward Maneuvers in Passive Multi-Trailer Vehicles

摘要

Drivers of vehicles with one or several passive trailers, like truck-and-trailer or articulated luggage carriers, have difficulties in backward maneuvers due to jackknife and lack of visibility. Advanced driver assistance systems (ADAS) can be helpful to improve both safety and driver comfort in these complex operations. In this paper, we propose an ADAS that adopts our curvature limitation method for backward multi-trailer vehicles, where the last trailer is considered a virtual tractor and steering limits are established to avoid jackknife and inter-unit collisions. In the proposed solution, when the driver puts the vehicle in reverse, the steering wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual feedback from a camera. This system can be implemented in drive-by-wire vehicles, where the steering-wheel feedback force can be customized for the curvature limitation of a given combination of one or several trailers. The system has been tested to tele-operate a mobile robot with two off-axle trailers.