By virtue of recent development in automated parking system, there has been growing interest in tractor-trailer automated parking application (TTAPA). However, there are two major obstacles when developing TTAPA. The one is low maneuverability of reversing a tractor-trailer vehicle (TTV), caused by hitch angle steering characteristic, and the other is heavy computational cost from non-linearity of model. This paper considers an autonomous parking system (APS) for a TTV. To achieve successful autonomous parking under various circumstances, this system adopts nonlinear model predictive control and LQR as path planner and path tracking controller, respectively. To validate the proposed APS for TTV, the system is implemented and evaluated in MATLAB/Simulink and TruckSim co-simulation environment. From simulation results, it is shown that the proposed APS can achieve parking scenario goal with good performance for a TTV.
Automated Parking System for Tractor-Trailer Vehicle
Lect.Notes Mechanical Engineering
Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024
2024-10-04
7 pages
Article/Chapter (Book)
Electronic Resource
English
Parking braking system of electric pneumatic trailer, trailer and tractor set
European Patent Office | 2024
|Semi-trailer tractor main vehicle and semi-trailer tractor
European Patent Office | 2023
|