Stabilization, Sensor Fusion and Path Following for Autonomous Reversing of a Full-Scale Truck and Trailer System
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
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.
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
IdentifiersURN: urn:nbn:se:liu:diva-130545ISRN: LiTH-ISY-EX–16/4982–SEOAI: oai:DiVA.org:liu-130545DiVA: diva2:952744
Subject / course
Evestedt, NiclasLjunqvist, OskarPettersson, Henrik
Axehill, Daniel, Docent