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Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit

机译:领先单位具有触觉转向限制的被动式多挂车车辆驾驶员辅助系统

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摘要

Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving 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 aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.
机译:由于单元间的碰撞,折刀和缺乏能见度,带有一个或多个被动挂车的驾驶车辆在向前和向后运动时都有困难。因此,用于多挂车组合的高级驾驶员辅助系统(ADAS)有助于避免事故以及提高驾驶员的舒适度。本文提出的ADAS旨在通过触觉手轮防止不安全的转向命令。此外,在倒车行驶时,方向盘和踏板的使用就好像车辆是从最后一辆拖车的后部借助后视摄像头的视觉辅助来驱动的。该解决方案可以在带有悬挂角度传感器的电传驾驶车辆中实现,它得益于作者先前开发的两种方法:通过对前导单元施加曲率限制来实现安全转向,以及用于向后运动的虚拟牵引车概念包括通过轴上挂钩进行设定点传播的复杂情况。该白皮书解决了系统要求,并提供了实现细节,以远程操作履带式移动机器人拉和推两个不同的拖车的两种不同的轴外组合。

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