TY - GEN
T1 - Automated Parking System for Tractor-Trailer Vehicle
AU - Kim, Jinwoo
AU - Yim, Seongjin
N1 - Publisher Copyright:
© The Author(s) 2024.
PY - 2024
Y1 - 2024
N2 - By virtue of recent development in automated parking system, there has been growing interest in tractor-trailer automated parking application (TTAPA). However, there are two major obstacles when developing TTAPA. The one is low maneuverability of reversing a tractor-trailer vehicle (TTV), caused by hitch angle steering characteristic, and the other is heavy computational cost from non-linearity of model. This paper considers an autonomous parking system (APS) for a TTV. To achieve successful autonomous parking under various circumstances, this system adopts nonlinear model predictive control and LQR as path planner and path tracking controller, respectively. To validate the proposed APS for TTV, the system is implemented and evaluated in MATLAB/Simulink and TruckSim co-simulation environment. From simulation results, it is shown that the proposed APS can achieve parking scenario goal with good performance for a TTV.
AB - By virtue of recent development in automated parking system, there has been growing interest in tractor-trailer automated parking application (TTAPA). However, there are two major obstacles when developing TTAPA. The one is low maneuverability of reversing a tractor-trailer vehicle (TTV), caused by hitch angle steering characteristic, and the other is heavy computational cost from non-linearity of model. This paper considers an autonomous parking system (APS) for a TTV. To achieve successful autonomous parking under various circumstances, this system adopts nonlinear model predictive control and LQR as path planner and path tracking controller, respectively. To validate the proposed APS for TTV, the system is implemented and evaluated in MATLAB/Simulink and TruckSim co-simulation environment. From simulation results, it is shown that the proposed APS can achieve parking scenario goal with good performance for a TTV.
KW - Automated parking system
KW - Path planning
KW - Path tracking control
KW - Tractor-trailer vehicle
UR - https://www.scopus.com/pages/publications/85206465461
U2 - 10.1007/978-3-031-70392-8_25
DO - 10.1007/978-3-031-70392-8_25
M3 - Conference contribution
AN - SCOPUS:85206465461
SN - 9783031703911
T3 - Lecture Notes in Mechanical Engineering
SP - 171
EP - 177
BT - 16th International Symposium on Advanced Vehicle Control - Proceedings of AVEC 2024 – Society of Automotive Engineers of Japan
A2 - Mastinu, Giampiero
A2 - Braghin, Francesco
A2 - Cheli, Federico
A2 - Corno, Matteo
A2 - Savaresi, Sergio M.
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Symposium on Advanced Vehicle Control, AVEC 2024
Y2 - 2 September 2024 through 6 September 2024
ER -