Reversing the General One-Trailer System: Asymptotic Curvature Stabilization and Path Tracking

Abstract

Backing up a trailer can be a challenge, particularly for inexperienced recreational drivers. We therefore develop two feedback controllers, which support the driver with automatic steering inputs in various situations. Based on the kinematics of the general one-trailer system, we first derive an input/output-linearizing control law that asymptotically stabilizes a given curvature for the trailer. This enables the driver to directly steer the trailer, e.g., by means of a turning knob, such that the trailer will automatically be prevented from jackknifing. The control task is then modified and solved so that the vehicle can also take over the complete stabilization task along given paths. In combination with a path-planning algorithm, this enables automated parallel parking for example. The complete system is implemented on a rapid-prototyping environment and evaluated in real-world scenarios.