liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Stabilization, Sensor Fusion and Path Following for Autonomous Reversing of a Full-Scale Truck and Trailer System
Linköping University, Department of Electrical Engineering, Automatic Control.
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis investigates and implements the sensor fusion necessary to autonomously reverse a full size truck and trailer system. This is done using a LiDAR mounted on the rear of the truck along with a RTK-GPS. It is shown that the relative angles between truck-dolly and dolly-trailer can be estimated, along with global position and global heading of the trailer. This is then implemented in one of Scania's test vehicles, giving it the ability to continuously estimate these states.

A controller is then implemented, showing that the full scale system can be stabilised in reverse motion. The controller is tested both on a static reference path and a reference path received from a motion planner. In these tests, the controller is able to stabilise the system well, allowing the truck to do complex manoeuvres backwards. A small lateral tracking error is present, which needs to be further investigated.

Place, publisher, year, edition, pages
2016. , 40 p.
Keyword [en]
Truck, Reversing, Reversing trailer system, Reversing trailer, trailer, truck and trailer, control, LQ, linear quadratic control, sensor fusion, Kalman filter, EKF, KF, RANSAC, LiDAR, autonomous, driver aid
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-130545ISRN: LiTH-ISY-EX–16/4982–SEOAI: diva2:952744
External cooperation
Subject / course
Automatic Control
Available from: 2016-08-18 Created: 2016-08-15 Last updated: 2016-08-18Bibliographically approved

Open Access in DiVA

fulltext(1462 kB)24 downloads
File information
File name FULLTEXT01.pdfFile size 1462 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Nyberg, Patrik
By organisation
Automatic Control
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 24 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 62 hits
ReferencesLink to record
Permanent link

Direct link