Model-Free Automated Reversing of Articulated Heavy Goods Vehicles

Shammi Rahman; Timothy Gordon; Leon Henderson; Yangyan Gao; Sonya Coleman; Dermot Kerr

doi:10.1007/978-3-031-70392-8_17

Model-Free Automated Reversing of Articulated Heavy Goods Vehicles

Shammi Rahman, Timothy Gordon, Leon Henderson, Yangyan Gao, Sonya Coleman, Dermot Kerr

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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Abstract

This paper presents a technique for automated reversing control of articulated vehicles. Reversing articulated Heavy Goods Vehicles (HGVs) can be a challenging and time consuming task for a human driver, sometimes requiring multiple forward and backward motions to reduce errors. Here, the aim is to automate the task to provide high levels of precision using Artificial Flow Guidance (AFG). AFG uses simple geometry to define a spatially distributed motion reference, requiring only short-range error corrections and possessing global convergence properties. AFG has previously been applied to rigid and articulated vehicles in forward motion, with demonstrable benefits in terms of tracking precision and robustness. Here results focus on the tractor-semitrailer, but the AFG approach is equally applicable to the reversing of longer combination vehicles.

Original language	English
Title of host publication	16th International Symposium on Advanced Vehicle Control (AVEC 2024)
Editors	Giampiero Mastinu, Francesco Braghin, Federico Cheli, Matteo Corno, Sergio M. Savaresi
Publisher	Springer Cham
Pages	116-122
Number of pages	6
ISBN (Electronic)	978-3-031-70392-8
ISBN (Print)	978-3-031-70391-1
DOIs	https://doi.org/10.1007/978-3-031-70392-8_17
Publication status	Published (in print/issue) - 2024

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Bibliographical note

Publisher Copyright:
© The Author(s) 2024.

Keywords

Artificial Flow Guidance
Automated reversing

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-031-70392-8_17

AFG_Reversing_Full_PaperAuthor Accepted Manuscript, 478 KB

Cite this

Rahman, S., Gordon, T., Henderson, L., Gao, Y., Coleman, S., & Kerr, D. (2024). Model-Free Automated Reversing of Articulated Heavy Goods Vehicles. In G. Mastinu, F. Braghin, F. Cheli, M. Corno, & S. M. Savaresi (Eds.), 16th International Symposium on Advanced Vehicle Control (AVEC 2024) (pp. 116-122). (Lecture Notes in Mechanical Engineering). Springer Cham. https://doi.org/10.1007/978-3-031-70392-8_17

Rahman, Shammi ; Gordon, Timothy ; Henderson, Leon et al. / Model-Free Automated Reversing of Articulated Heavy Goods Vehicles. 16th International Symposium on Advanced Vehicle Control (AVEC 2024). editor / Giampiero Mastinu ; Francesco Braghin ; Federico Cheli ; Matteo Corno ; Sergio M. Savaresi. Springer Cham, 2024. pp. 116-122 (Lecture Notes in Mechanical Engineering).

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Rahman, S, Gordon, T, Henderson, L, Gao, Y, Coleman, S & Kerr, D 2024, Model-Free Automated Reversing of Articulated Heavy Goods Vehicles. in G Mastinu, F Braghin, F Cheli, M Corno & SM Savaresi (eds), 16th International Symposium on Advanced Vehicle Control (AVEC 2024). Lecture Notes in Mechanical Engineering, Springer Cham, pp. 116-122. https://doi.org/10.1007/978-3-031-70392-8_17

Model-Free Automated Reversing of Articulated Heavy Goods Vehicles. / Rahman, Shammi; Gordon, Timothy; Henderson, Leon et al.
16th International Symposium on Advanced Vehicle Control (AVEC 2024). ed. / Giampiero Mastinu; Francesco Braghin; Federico Cheli; Matteo Corno; Sergio M. Savaresi. Springer Cham, 2024. p. 116-122 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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T1 - Model-Free Automated Reversing of Articulated Heavy Goods Vehicles

AU - Rahman, Shammi

AU - Gordon, Timothy

AU - Henderson, Leon

AU - Gao, Yangyan

AU - Coleman, Sonya

AU - Kerr, Dermot

N1 - Publisher Copyright: © The Author(s) 2024.

PY - 2024

Y1 - 2024

N2 - This paper presents a technique for automated reversing control of articulated vehicles. Reversing articulated Heavy Goods Vehicles (HGVs) can be a challenging and time consuming task for a human driver, sometimes requiring multiple forward and backward motions to reduce errors. Here, the aim is to automate the task to provide high levels of precision using Artificial Flow Guidance (AFG). AFG uses simple geometry to define a spatially distributed motion reference, requiring only short-range error corrections and possessing global convergence properties. AFG has previously been applied to rigid and articulated vehicles in forward motion, with demonstrable benefits in terms of tracking precision and robustness. Here results focus on the tractor-semitrailer, but the AFG approach is equally applicable to the reversing of longer combination vehicles.

AB - This paper presents a technique for automated reversing control of articulated vehicles. Reversing articulated Heavy Goods Vehicles (HGVs) can be a challenging and time consuming task for a human driver, sometimes requiring multiple forward and backward motions to reduce errors. Here, the aim is to automate the task to provide high levels of precision using Artificial Flow Guidance (AFG). AFG uses simple geometry to define a spatially distributed motion reference, requiring only short-range error corrections and possessing global convergence properties. AFG has previously been applied to rigid and articulated vehicles in forward motion, with demonstrable benefits in terms of tracking precision and robustness. Here results focus on the tractor-semitrailer, but the AFG approach is equally applicable to the reversing of longer combination vehicles.

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KW - Automated reversing

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Rahman S, Gordon T, Henderson L, Gao Y, Coleman S , Kerr D. Model-Free Automated Reversing of Articulated Heavy Goods Vehicles. In Mastinu G, Braghin F, Cheli F, Corno M, Savaresi SM, editors, 16th International Symposium on Advanced Vehicle Control (AVEC 2024). Springer Cham. 2024. p. 116-122. (Lecture Notes in Mechanical Engineering). Epub 2024 Oct 4. doi: 10.1007/978-3-031-70392-8_17

Model-Free Automated Reversing of Articulated Heavy Goods Vehicles

Abstract

Publication series

Bibliographical note

Keywords

UN SDGs

Access to Document

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