Lane following during backward driving for front wheel steered vehicles

Abstract

This paper addresses the problem of automatic backward driving of passenger vehicles following a specified path. Additional difficulties associated with backward driving, as compared to forward driving are pointed out, with special attention to the sensor location. A special controller structure, based on a concept of kinematic linkage is proposed to overcome the dynamic difficulties associated with backward driving. Simulations and experiments demonstrate its performance and functionality.

Low cost IMU–Odometer–GPS ego localization for unusual maneuvers

“…So far, backward driving modeling has received very little attention in the literature. Previous work has been reported by Rajamani et al [11], Kim and Oh [12] and Patwardhan et al [13]. In [11], a lateral control method for the position and orientation of a backward driven vehicle is presented.…”

“…In this paper, a four wheel nonlinear kinematic model is used to assess the vehicle position and orientation during this particular maneuver. In [13], the authors developed a control design approach based on the observation of the kinematic similarities of a boat rudder and a car driven backwards.…”

A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems

“…The Ackerman steering model, which uses the geometric relationship of the vehicle model, is the one of the most popular path tracking methods. However, it may cause a steering angle error when a turning radius is not sufficiently larger than the longitudinal length of the vehicle, because of the Ackerman's approximation in the model [7][8][9].…”

Feedforward Compensation for Lateral Control of Heavy Vehicles for Automated Highway System (Ahs)

“…Researchers in PATH conducted extensive studies on the lateral control of passenger vehicles (Patwardhan et al, 1997b;Patwardhan et al, 1997a;Peng and Tomizuka, 1993;Pham et al, 1994). In 1993, PATH initiated research program for heavy vehicles and since then there has been active research and steady progress covering modeling (Chen and Tomizuka, 1995;Tai and Tomizuka, 1998), system analysis (Wang and Tomizuka, 1998), controller designs (Wang and Tomizuka, 1999;Wang and Tomizuka, 2000;Tai and Tomizuka, 1999;Tai and Tomizuka, 2000) and experimentation (Hingwe et al, 1999).…”