Model-Free Automated Reversing of Articulated Heavy Goods Vehicles
Paper in proceeding, 2024

This paper presents a technique for automated reversing control of articulated vehicles. Reversing articulated Heavy Goods Vehicles (HGVs) can be a challenging and time consuming task for a human driver, sometimes requiring multiple forward and backward motions to reduce errors. Here, the aim is to automate the task to provide high levels of precision using Artificial Flow Guidance (AFG). AFG uses simple geometry to define a spatially distributed motion reference, requiring only short-range error corrections and possessing global convergence properties. AFG has previously been applied to rigid and articulated vehicles in forward motion, with demonstrable benefits in terms of tracking precision and robustness. Here results focus on the tractor-semitrailer, but the AFG approach is equally applicable to the reversing of longer combination vehicles.

Articulated Vehicles

Automated Reversing

Author

Shammi Rahman

Ulster University

University of Lincoln

Tim Gordon

University of Lincoln

Leon Henderson

Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems

Y. Gao

Volvo Group

Sonya Coleman

Ulster University

Dermot Kerr

Ulster University

Lecture Notes in Mechanical Engineering

21954356 (ISSN) 21954364 (eISSN)

116-122
9783031703911 (ISBN)

16th International Symposium on Advanced Vehicle Control, AVEC 2024
Milan, Italy,

Subject Categories

Electrical Engineering, Electronic Engineering, Information Engineering

DOI

10.1007/978-3-031-70392-8_17

More information

Latest update

11/8/2024