The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Driver Assistance System for Backward Motion Control of a Car with a Trailer

차량견인 트레일러의 후진제어를 위한 운전자 보조 시스템

  • 노재일 (고려대학교 기계공학과) ;
  • 정우진 (고려대학교 기계공학과)
  • Received : 2010.06.08
  • Accepted : 2010.08.19
  • Published : 2010.11.30
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Abstract

The trailer system offers efficiency of transportation capability. However, it is difficult to control the backward motion. It is an open loop unstable problem. To solve this problem, we are proposed the driver assistance system. Driver assistance system assists a driver to control the backward motion of trailer system as if forward motion. A driver only secure the rear view of last passive trailer, and select the control input to drive the last passive trailer. The driver assistance system converts the control input of the driver into velocity and steering angle of the vehicle using the inverse kinematics. It is possible by electronic control input devices and the rear view camera. Effectiveness of driving assistance system is verified by the simulation and the experiments.

Keywords

References

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