title: Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit.
abstract: 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.
authors.affiliation: Departamento Ingeniería de Sistemas y Automática, Universidad de Málaga, 29071 Málaga, Spain. jesus.morales@uma.es
authors.forename: Jesús
authors.initials: J
authors.lastname: Morales
authors.forename: Anthony
authors.initials: A
authors.lastname: Mandow
authors.forename: Jorge L
authors.initials: JL
authors.lastname: Martínez
authors.forename: Antonio J
authors.initials: AJ
authors.lastname: Reina
authors.forename: Alfonso
authors.initials: A
authors.lastname: García-Cerezo
mesh_terms: D000465:Algorithms; D001334:Automobile Driving; D006801:Humans; D009038:Motion; D018986:Motor Vehicles
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