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The project Automation of reverse parking using rules and logic, - PowerPoint PPT Presentation

The project Automation of reverse parking using rules and logic, regardless of the size of the trailer and its tractor. #ITEC2019 The Problems 1) The mathematics for the dynamic of a multiple axles trailer being pushed-back 2) The skill of


  1. The project Automation of reverse parking using rules and logic, regardless of the size of the trailer and its tractor. #ITEC2019

  2. The Problems 1) The mathematics for the dynamic of a multiple axles trailer being pushed-back 2) The skill of driving 3) The algorithm to always find a parking maneuver, whatever the configuration #ITEC2019

  3. Methods used to solve the aforementioned problems 1) High-Frequency sampling to discretize the tractory 2) Control-Loops 3) State-Machine #ITEC2019

  4. Chassis Simulation 1) The tractrix of Liebniz 2) Mathematical formulation 3) High-Frequency sampling to discretize the tractory #ITEC2019

  5. Tractory discretization B1 at t1 B0 at t0 dx B0 at t0 B1 at t1 leash leash M1 at t1 M0 at t0 dx M0 at t0 M1 at t1 #ITEC2019

  6. High-Freq Sampling pros - Basic Newton’s laws & vector algebra - Angle based control-loops including user defined delays - Well adapted to real-time drawing and checking #ITEC2019

  7. High-Freq Sampling cons - Needs 30 Hz or above for a better accuracy of the tractory approximation - Short term prediction only - Needs a real-time engine #ITEC2019

  8. Validation #ITEC2019

  9. Driving Skills - Steering the driving wheels - Getting & Keeping the hitch angle #ITEC2019

  10. Jackknife Angle - The jackknife problem - Empirically finding the jackknife angle - Computing the minimum turn radius in forward and reverse modes #ITEC2019

  11. Jackknife Resolution #ITEC2019

  12. Maneuver Logic #ITEC2019

  13. Maneuver Test #ITEC2019

  14. The 3 points Algorithm #ITEC2019

  15. Realignment Sometimes the cornering will fail aligning the trailer correctly after the Gate point; Then, need to realign by moving forward; Automatic triggering from the state-machine. #ITEC2019

  16. Short trailer parking #ITEC2019

  17. Final State-Machine #ITEC2019

  18. Long Trailer Parking 1 #ITEC2019

  19. Long Trailer Parking 2 #ITEC2019

  20. Conclusion Discretization provided the same accuracy as complex maths. Basic control loops allowed precise alignments and turns. A single state-machine was enough to solve most configurations. #ITEC2019

  21. Thank-you ! Any Question ? #ITEC2019

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