The tractor and trailer units of the semi-trailer truck are connected through the hitch point. The articulation angle is generated when lateral force is applied to the vehicle and it causes the tractor and trailer units to move in different trajectories. When driving on narrow road or large curvature road, considerable level of driving skill is required to drive within the road boundary. If the driver passes through a narrow road without considering the articulation angle, a collision accident may occur to surrounding obstacles or vehicles. In this study, an autonomous driving system was proposed by considering the articulation angle of a semi-trailer truck in a narrow road. Based on the model predictive control, the future trajectory of the semi-trailer truck is predicted and controlled. Collision detection is conducted by using the Separate Axis Theorem and the result is reflected in model predictive control (MPC) constraints. The proposed algorithm is verified using MATLAB Simulink and TruckSim.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Development of a Narrow Passage Driving System for Semi-trailer Truck by Using MPC


    Additional title:

    Int.J Automot. Technol.


    Contributors:

    Published in:

    Publication date :

    2022-06-01


    Size :

    7 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Narrow passage assistant system for rear wheel steering semi-trailer truck

    Yang, Junggun / Yun, Sunghwan / Huh, Kunsoo | IEEE | 2017


    Semi-trailer, semi-trailer truck and method for braking a semi-trailer

    DREWES OLAF | European Patent Office | 2022

    Free access

    SEMI-TRAILER, SEMI-TRAILER TRUCK AND METHOD FOR BRAKING A SEMI-TRAILER

    DREWES OLAF | European Patent Office | 2019

    Free access

    Semi-trailer, trailer truck and method for braking a semi-trailer

    DREWES OLAF | European Patent Office | 2020

    Free access

    Dump trailer and system for a semi-trailer truck

    RANDLE DUSTIN R | European Patent Office | 2021

    Free access