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

2018 21st International Conference on Intelligent Transportation Systems (ITSC) Pub Date : 2018-11-01 DOI:10.1109/ITSC.2018.8569262

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

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引用次数: 7

Abstract

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.

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基于插入式刀切预防系统的自主牵引车约束反向路径跟踪控制

牵引车-挂车倒车过程中的折弯是控制系统设计中的一大难题。本文明确推导了离轴牵引车-挂车系统的机动条件。设计并构造了控制安全调速器，在任意控制器的转向速率约束下，保证系统保持在导出的机动条件内。控制安全调控器与控制器解耦，因此可以以插件方式使用，干扰最小。采用神经网络控制器对所设计系统的性能进行了测试，测试的路径越来越严格，并引入了不连续点。结果表明，该系统能够成功地实现无刀切轨迹跟踪。这项工作的新颖之处在于提供了一种能够保证任何牵引-拖车系统反向路径跟踪控制器都不会发生折刀的解决方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2018 21st International Conference on Intelligent Transportation Systems (ITSC)

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