Constrained Backward Path Tracking Control using a Plug-in Jackknife Prevention System for Autonomous Tractor-Trailers

By Mohammad Hejase, Junbo Jing, John M. Maroli, Yasser Bin Salamah, L. Fiorentini, Ü. Özgüner. 2018

13 citations recorded by the source corpus.

Jackknifing during tractor-trailer reverse driving presents a major challenge in control system design. In this paper, maneuverability conditions were explicitly derived for tractor-trailer systems that are hitched off-axle. A control safety governor was designed and constructed to guarantee that the system stays within the derived maneuverability conditions under steering rate constraints using any controller. The control safety governor is decoupled from the controller so that it can be used in a plug-in fashion with minimal interference. The performance of the designed system was tested for a neural network controller on an increasingly rigorous path with introduced discontinuities. Results show that the system was able to successfully track the path without jackknifing. The novelty of this work lies in providing a solution that is capable of guaranteeing jackknife prevention for any reverse path tracking controller for tractor-trailer systems.

Subfields: Automotive Engineering, Computer Vision and Pattern Recognition, Control and Systems Engineering

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Automotive Engineering

  1. Jacob Lambert
  2. Alexander Carballo
  3. Ekim Yurtsever
  4. Kazuya Takeda

In Computer Vision and Pattern Recognition

  1. Ekim Yurtsever
  2. Alexander Carballo
  3. Jacob Lambert
  4. Kazuya Takeda

In Control and Systems Engineering

  1. Kazuya Takeda
  2. Alexander Carballo
  3. Ekim Yurtsever
  4. Jacob Lambert

Citations in the corpus