A Numerical Approach for Solving the Inversion Problem for n-Trailer Systems

Dahlmann J, Völz A, Szabo T, Graichen K (2022)

Publication Language: English

Publication Type: Conference contribution

Publication year: 2022

Journal

Proceedings of the American Control Conference

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 2018-2024

Conference Proceedings Title: 2022 American Control Conference (ACC)

Event location: Atlanta, GA US

ISBN: 978-1-6654-9480-9

DOI: 10.23919/ACC53348.2022.9867593

Abstract

Planning feasible trajectories is a necessity for developing autonomous vehicles. This especially becomes a difficult task when arbitrary trailers are involved. This paper proposes a sequential approach to solve the inversion problem for the so-called n-trailer systems. The idea is to specify the movement of the rearmost axle and convert the vehicle chain into concatenated axle pairs. Starting from the rearmost axle, the hitching angles and their time derivatives can be computed using geometric relations as well as either numerical differentiation or integration depending on the hitching type. The algorithm constructs the vehicle motion trajectories and the required control signals. Additionally, a method for generating the reference paths is provided. The results are validated for a truck with three trailers and different hitching types.

Authors with CRIS profile

Julian Dahlmann Chair of Automatic Control (LRT/AC) Andreas Völz Chair of Automatic Control (LRT/AC) Knut Graichen Chair of Automatic Control (LRT/AC)

Related research project(s)

Automated path planning for truck-trailer configurations Sept. 1, 2019 - Aug. 31, 2022

Involved external institutions

ZF Friedrichshafen AG DE Germany (DE)

How to cite

APA:

Dahlmann, J., Völz, A., Szabo, T., & Graichen, K. (2022). A Numerical Approach for Solving the Inversion Problem for n-Trailer Systems. In 2022 American Control Conference (ACC) (pp. 2018-2024). Atlanta, GA, US: Institute of Electrical and Electronics Engineers Inc..

MLA:

Dahlmann, Julian, et al. "A Numerical Approach for Solving the Inversion Problem for n-Trailer Systems." Proceedings of the 2022 American Control Conference, ACC 2022, Atlanta, GA Institute of Electrical and Electronics Engineers Inc., 2022. 2018-2024.

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