@article{ref1,
title="Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit",
journal="Sensors (Basel)",
year="2013",
author="Morales, Jesús and Mandow, Anthony and Martínez, Jorge L. and Reina, Antonio J. and García-Cerezo, Alfonso",
volume="13",
number="4",
pages="4485-4498",
abstract="Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.<p /> <p>Language: en</p>",
language="en",
issn="1424-8220",
doi="10.3390/s130404485",
url="http://dx.doi.org/10.3390/s130404485"
}