JRM Vol.32 No.3 pp. 561-570
doi: 10.20965/jrm.2020.p0561


Automated Steering Control System for Reverse Parking Maneuver of Semi-Trailer Vehicles Considering Motion Planning by Simulation of Feedback Control System

Yutaka Hamaguchi* and Pongsathorn Raksincharoensak**

*Hino Motors, Ltd.
3-1-1 Hinodai, Hino, Tokyo 191-8660, Japan

**Tokyo University of Agriculture and Technology
2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan

December 20, 2019
April 5, 2020
June 20, 2020
semi-trailer vehicle, parking assist system, motion planning, pure pursuit method, hitch angle

With the increase in the demand for road freight transportation, semi-trailers are being increasingly preferedowing to their large maximum load capacity. However, for such vehicles, excellent driving skills are required because unique steering is often necessary during reverse parking. In this paper, the concept of a parking assist system and path tracking controller is proposed. The control system consists of a pure pursuit motion planner for handling the reference path tracking and a feedback controller for stabilizing the hitch angles. We propose a control method to realize the ideal control performance of an actual vehicle subjected to unmeasured disturbance. An actual full-scale vehicle experiment is conducted and the effectiveness of the proposed approach is verified by evaluating the error from the target parking position.

Semi-trailer vehicle used for experiments

Semi-trailer vehicle used for experiments

Cite this article as:
Y. Hamaguchi and P. Raksincharoensak, “Automated Steering Control System for Reverse Parking Maneuver of Semi-Trailer Vehicles Considering Motion Planning by Simulation of Feedback Control System,” J. Robot. Mechatron., Vol.32 No.3, pp. 561-570, 2020.
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Last updated on Apr. 05, 2024