Work

Estimation of trailer off-tracking using visual odometry

Year: 2018

Type: article

Abstract: High-capacity vehicles have been shown to be highly effective in reducing emissions associated with road freight transport. However, the reduced manoeuvrability of long vehicles often necessitates the use of active trailer steering. Path-following trailer steering systems are very effective in this regard, but are currently limited to on-highway applications due to the manner in which trailer off-tracking is estimated. In this work, a novel trailer off-tracking measurement concept is introduced which is independent of wheel slip and ground surface conditions, and requires no additional sensor measurements or parameter data from the tractor. The concept utilises a stereo camera pair affixed to the trailer and a visual odometry-based algorithm to calculate off-tracking. The concept was evaluated in detailed simulation and full-scale vehicle tests, demonstrating its feasibility and highlighting some important characteristics. RMS measurement errors of 0.11–0.12 m (3.3–3.6%) were obtained in a challenging visual environment.

Source: Vehicle System Dynamics

DOI: 10.1080/00423114.2018.1484498

Authors: Christopher de Saxe, David Cebon

Institutions: Council for Scientific and Industrial Research, University of Cambridge

Language: English

Topic: Vehicle Dynamics and Control Systems

Subfield: Automotive Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: hybrid

Funders: Council for Scientific and Industrial Research, South Africa, Cambridge Trust, Engineering and Physical Sciences Research Council