Automated Parking System for Tractor-Trailer Vehicle

Abstract

By virtue of recent development in automated parking system, there has been growing interest in tractor-trailer automated parking application (TTAPA). However, there are two major obstacles when developing TTAPA. The one is low maneuverability of reversing a tractor-trailer vehicle (TTV), caused by hitch angle steering characteristic, and the other is heavy computational cost from non-linearity of model. This paper considers an autonomous parking system (APS) for a TTV. To achieve successful autonomous parking under various circumstances, this system adopts nonlinear model predictive control and LQR as path planner and path tracking controller, respectively. To validate the proposed APS for TTV, the system is implemented and evaluated in MATLAB/Simulink and TruckSim co-simulation environment. From simulation results, it is shown that the proposed APS can achieve parking scenario goal with good performance for a TTV.