Automated Steering Control System for Reverse Parking Maneuver of Semi-Trailer Vehicles Considering Motion Planning by Simulation of Feedback Control System

摘要

With the increase in the demand for road freight transportation, semi-trailers are being increasingly prefere-dowing to their large maximum load capacity. However, for such vehicles, excellent driving skills are required because unique steering is often necessary during reverse parking. In this paper, the concept of a parking assist system and path tracking controller is proposed. The control system consists of a pure pursuit motion planner for handling the reference path tracking and a feedback controller for stabilizing the hitch angles. We propose a control method to realize the ideal control performance of an actual vehicle subjected to unmeasured disturbance. An actual full-scale vehicle experiment is conducted and the effectiveness of the proposed approach is verified by evaluating the error from the target parking position.