Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit

Sensors (Switzerland)

Volumn 13, Issue 4, 2013, Pages 4485-4498

  Morales, Jesús ^a   Mandow, Anthony ^a   Martínez, Jorge L ^a   Reina, Antonio J ^a   García Cerezo, Alfonso ^a  

^a UNIVERSITY OF MÁLAGA   (Spain)

Author keywords

Articulated vehicles; Curvature limitations; Drive by wire; Driver assistance system; Jackknife avoidance; Trailer; Virtual tractor

Indexed keywords

AUTOMOBILE DRIVERS; AXLES; COMMUNICATION; LIGHT TRAILERS; PROFITABILITY; STEERING; TRACTORS (TRUCK);

ARTICULATED VEHICLE; CURVATURE LIMITATIONS; DRIVE-BY-WIRE; DRIVER ASSISTANCE SYSTEM; JACKKNIFE AVOIDANCE;

AUTOMOBILE STEERING EQUIPMENT;

EID: 84875987586     PISSN: 14248220     EISSN: None     Source Type: Journal    
DOI: 10.3390/s130404485     Document Type: Article

References (39)

1. Alonso, L.; Milanés, V.; Torre-Ferrero, C.; Godoy, J.; Oria, J.P.; de Pedro, T. Ultrasonic sensors in urban traffic driving-aid systems. Sensors 2011, 11, 661-673.
2. Chu, T.; Guo, N.; Backén, S.; Akos, D. Monocular camera/IMU/GNSS integration for ground vehicle navigation in challenging GNSS environments. Sensors 2012, 12, 3162-3185.
3. Chen, Y.L.; Chiang, H.H.; Chiang, C.Y.; Liu, C.M.; Yuan, S.M.; Wang, J.H. A vision-based driver nighttime assistance and surveillance system based on intelligent image sensing techniques and a heterogamous dual-core embedded system architecture. Sensors 2012, 12, 2373-2399.
4. Musleh, B.; García, F.; Otamendi, J.; Armingol, J.; de la Escalera, A. Identifying and tracking pedestrians based on sensor fusion and motion stability predictions. Sensors 2010, 10, 8028-8053.
5. García-Garrido, M.; Ocaña, M.; Llorca, D.; Arroyo, E.; Pozuelo, J.; Gavilán, M. Complete vision-based traffic sign recognition supported by an I2V communication system. Sensors 2012, 12, 1148-1169.
6. Li, S.; Hai, Y. Easy calibration of a blind-spot-free fisheye camera system using a scene of a parking space. IEEE Trans. Intell. Transp. Syst. 2011, 12, 232-242.
7. Lin, C.C.; Wang, M.S. A vision based top-view transformation model for a vehicle parking assistant. Sensors 2012, 12, 4431-4446.
8. Jiménez, F.; Naranjo, J.E. Improving the obstacle detection and identification algorithms of a laser scanner-based collision avoidance system. Transp. Res. Part C Emerg. Technol. 2011, 19, 658-672.
9. Haggag, S.; Alstrom, D.; Cetinkunt, S.; Egelja, A. Modeling, control, and validation of an electro-hydraulic steer-by-wire system for articulated vehicle applications. IEEE/ASME Trans. Mechatron. 2005, 10, 688-692.
10. Steele, M.; Gillespie, R.B. Shared Control between Human and Machine: Using a Haptic Steering Wheel to Aid in Land Vehicle Guidance. In Proceedings of the Human Factors and Ergonomics Society Annual Meeting, Minneapolis, MN, USA, 8-12 October 2001; pp. 1671-1675.
11. Yamaguchi, Y.; Murakami, T. Adaptive control for virtual steering characteristics on electric vehicle using steer-by-wire system. IEEE Trans. Ind. Electron. 2009, 56, 1585-1594.
12. Roh, J.I.; Chung, W. Reversing control of a car with a trailer using the driver assistance system. Int. J. Adv. Robot. Syst. 2011, 8, 114-121.
13. Zhang, X.; Reich, T.; Geimer, M. Development of a Driver Assistance System for Long Timber Transportation Trucks to Improve Tracking Behavior. In Proceedings of the IEEE Intelligent Vehicles Symposium, Baden-Baden, Germany, 5-9 June 2011; pp. 557-562.
14. Altafini, C. Following a path of varying curvature as an output regulation problem. IEEE Trans. Autom. Contr. 2002, 47, 1551-1556.
15. Martínez, J.L.; Morales, J.; Mandow, A.; García-Cerezo, A. Steering limitations for a vehicle pulling passive trailers. IEEE Trans. Contr. Syst. Technol. 2008, 16, 809-818.
16. Bolzern, P.; DeSantis, R.M.; Locatelli, A.; Masciocchi, D. Path-tracking for articulated vehicles with off-axle hitching. IEEE Trans. Contr. Syst. Technol. 1998, 6, 515-523.
17. Riid, A.; Ketola, J.; Rüstern, E. Fuzzy Knowledge-Based Control for Backing Multi-Trailer Systems. In Proceedings of the IEEE Intelligent Vehicles Symposium, Istanbul, Turkey, 13-15 June 2007; pp. 498-504.
18. Tanaka, K.; Yamauchi, K.; Ohtake, H.; Wang, H.O. Sensor reduction for backing-up control of a vehicle with triple trailers. IEEE Trans. Ind. Electron. 2009, 56, 497-509.
19. Altafini, C.; Speranzon, A.; Eahlberg, B. A feedback control scheme for reversing a truck and trailer system. IEEE Trans. Robot. Autom. 2001, 17, 915-922.
20. Pradalier, C.; Usher, K. Robust trajectory tracking for a reversing tractor trailer. J. Field Robot. 2008, 25, 378-399.
21. Leng, Z.; Minor, M. A Simple Tractor-trailer Backing Control Law for Path Following. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18-22 October 2010; pp. 5538-5542.
22. Chung, W.; Park, M.; Yoo, K.; Roh, J.; Choi, J. Backward-motion control of a mobile robot with n passive off-hooked trailers. J. Mech. Sci. Technol. 2011, 25, 2895-2905.
23. Michalek, M. Application of the VFO method to set-point control for the N-trailer vehicle with off-axle hitching. Int. J. Contr. 2012, 85, 502-521.
24. Suzuki, K.; Jansson, H. An analysis of driver's steering behaviour during auditory or haptic warnings for the designing of lane departure warning system. JSAE Rev. 2003, 24, 65-70.
25. Jensen, M.J.; Tolbert, A.M.; Wagner, J.R.; Switzer, F.S.; Finn, J.W. A customizable automotive steering system with a haptic feedback control strategy for obstacle avoidance notification. IEEE Trans. Veh. Technol. 2011, 60, 4208-4216.
26. Switkes, J.P.; Rossetter, E.J.; Coe, I.A.; Gerdes, J.C. Handwheel force feedback for lanekeeping assistance: Combined dynamics and stability. J. Dyn. Syst. Meas. Contr. Trans. ASME 2006, 128, 532-542.
27. Carlier, J.; Murakami, T. Virtual force field based of force-feedback of road condition for driving assistant design in electric vehicle. Int. J. Autom. Technol. 2011, 5, 908-915.
28. Hirokawa, M.; Uesugi, N.; Furugori, S.; Kitagawa, T.; Suzuki, K. A Haptic Instruction Based Assisted Driving System for Training the Reverse Parking. In Proceedigns of the IEEE International Conference on Robotics and Automation, Minnesota, MN, USA, 14-18 May 2012; pp. 3713-3718.
29. Shimizu, S.; Kawai, J.; Yamada, H. Wraparound view system for motor vehicles. Fujitsu Sci. Tech. J. 2010, 46, 95-102.
30. Ehlgen, T.; Pajdla, T.; Ammon, D. Eliminating blind spots for assisted driving. IEEE Trans. Intell. Transp. Syst. 2008, 9, 657-665.
31. th International Conference on Microelectronics, Nis, Serbia, 13-16 May 2012; pp. 383-386.
32. Ferreira, E.P.; Miranda, V.M. Full Neural Predictors, with Fixed Time Horizon, for a Truck-Trailer-Trailer Prototype of a Multi-articulated Robot, in Backward Movements-Singular Conditions and Critical Angles. In Proceedings of the 9th IEEE International Conference on Control and Automation, Santiago, Chile, 19-21 December 2011; pp. 991-996.
33. Morales, J.; Mandow, A.; Martínez, J.L.; García-Cerezo, A. Driver Assistance System for Backward Maneuvers in Passive Multi-Trailer Vehicles. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 7-12 October 2012; pp. 4853-4858.
34. Morales, J.; Martínez, J.L.; Mandow, A.; Medina, I.J. Virtual Steering Limitations for Reversing an Articulated Vehicle with Off-axle Passive Trailers. In Proceedings of the 35th Annual Conference of IEEE Industrial Electronics, Porto, Portugal, 3-5 November 2009; pp. 2385-2390.
35. Michalek, M. Geometrically Motivated Set-point Control Strategy for the Standard N-trailer Vehicle. In Proceedings of the IEEE Intelligent Vehicles Symposium, Baden-Baden, Germany, 5-9 June 2011; pp. 138-143.
36. Morales, J.; Martínez, J.L.; Mandow, A.; García-Cerezo, A. Steering the last trailer as a virtual tractor for reversing vehicles with passive on-and off-axle hitches. IEEE Trans. Ind. Electron. 2013, doi:10.1109/TIE.2013.2240631.
37. Kun, A.L.; Paek, T.; Medenica, Z.; Memarović, N.; Palinko, O. Glancing at Personal Navigation Devices can Affect Driving: Experimental Results and Design Implications. In Proceedings of the 1st International Conference on Automotive User Interfaces and Interactive Vehicular Applications, Essen, Germany, 21-22 September 2009; pp. 129-136.
38. Martínez, J.L.; Mandow, A.; Morales, J.; Pedraza, S.; García-Cerezo, A. Approximatingkinematics for tracked mobile Robots. Int. J. Robot. Res. 2005, 24, 867-878.
39. Martínez, J.L.; González, J.; Morales, J.; Mandow, A.; García-Cerezo, A. Mobile robot motion estimation by 2D scan matching with genetic and iterative closest point algorithms. J. Field Robot. 2006, 23, 21-34.