Hafner, M. and Pilutti, T., "Control for Automated Trailer Backup," SAE Technical Paper 2017-01-0040, 2017, doi:10.4271/2017-01-0040.
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 full-size pickup truck and 5th wheel trailer.