Dhirendra Sah

Recent developments in sensing and information processing technology have seen an increased interest in applications of autonomous vehicles. Many driverless vehicles have been tested in various places and environments across the world. Automated backing of tractor-trailer systems is one of the problems yet to be fully addressed in this endeavor, even experienced drivers find it challenging to perform backup maneuvers of tractor-trailer systems in confined spaces. Achieving a fully automated backup maneuver of a tractor-trailer vehicle requires, among other things, the presence of a high-fidelity mathematical model of the vehicle. Often this problem is approached from a kinematic standpoint where the vehicle and the trailer are modeled using a bicycle structure formulation by concentrating weights at the axle centers only, which limits not only the maneuverability of the vehicle system but also its speed. This paper proposes a dynamic model of a tractor-trailer that treats the system as a finite structure of interconnected multi-bodies subjected to various forces and moments emanating from terramechanics and other non-conservative forces acting on the vehicle. This approach presents are more realistic motion of the vehicle even in confined spaces enabling it to avoid colliding with unintended objects during the maneuver. Simulation results by using such a model show that the vehicle can autonomously perform back up maneuvers in as limited clearances as 5% of the vehicle width at moderate speeds without significant slip.

Technological advancement in sensing and information processing have increased interest in autonomous vehicle applications. Many driverless vehicles have been tested in diverse environments globally. However, automated backing of Truck-trailer systems remains a challenge, even experienced drivers struggle with backup maneuvers. Achieving fully automated backing requires, among other things, a high-fidelity mathematical model of the vehicle. This is often approached kinematically, modeling the vehicle and trailer using a bicycle structure that concentrates weight at axle centers, limiting both maneuverability and speed. This paper proposes a dynamic model treating the Truck-trailer as finite structure of interconnected multi-bodies subjected to forces and moments from terramechanics and other non-conservative effects. This approach provides more realistic representation of vehicle motion, even in tight spaces, avoiding collisions during maneuvers. Simulations using this model show the vehicle can autonomously perform backing maneuvers in clearances as narrow as 5% of vehicle width at moderate speeds without significant slip.