Control for Automated Trailer Backup

Paper #:
  • 2017-01-0040

Published:
  • 2017-03-28
Abstract:
We propose a steering controller for automated trailer backup, which can be used on tractor-trailer configurations including fifth wheel campers and gooseneck style trailers. The controller steers the trailer based on real-time driver issued trailer curvature commands. We give a stability proof for the hierarchical control system, and demonstrate robustness under a specific set of modeling errors. Simulation results are provided along with experimental data from a test vehicle and 5th wheel trailer.
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