TY  - JOUR
PY  - 2013//
TI  - Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit
JO  - Sensors (Basel)
A1  - Morales, Jesús
A1  - Mandow, Anthony
A1  - Martínez, Jorge L.
A1  - Reina, Antonio J.
A1  - García-Cerezo, Alfonso
SP  - 4485
EP  - 4498
VL  - 13
IS  - 4
N2  - 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>
LA  - en
SN  - 1424-8220
UR  - http://dx.doi.org/10.3390/s130404485
ID  - ref1
ER  -