Departamento Ingeniería de Sistemas y Automática, Universidad de Málaga, 29071 Málaga, Spain.
Sensors (Basel). 2013 Apr 3;13(4):4485-98. doi: 10.3390/s130404485.
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.
驾驶带有一个或多个被动挂车的车辆在前进和后退运动中都存在困难，因为存在单元间碰撞、折叠和视线不足的问题。因此，多挂车组合的先进驾驶员辅助系统 (ADAS) 可以有助于避免事故和提高驾驶员舒适性。本文提出的 ADAS 旨在通过触觉方向盘防止不安全的转向命令。此外，在倒车时，可以使用方向盘和踏板，就像从最后一辆挂车的后部驾驶车辆一样，并且可以通过后置摄像头获得视觉辅助。该解决方案可以在带有拖曳角度传感器的线控车辆中实现，它利用了作者之前开发的两种方法：通过对前导单元施加曲率限制来进行安全转向，以及用于后退运动的虚拟拖拉机概念，其中包括通过轴上挂接器传播设定点的复杂情况。本文讨论了系统要求，并提供了详细的实现细节，用于远程操作一个履带式移动机器人拉动和推动两个不同挂车的两种不同的拖曳和非拖曳组合。
