Model-Based Trailer-Sway Suppression for Autonomous Vehicles
Model-Based Trailer-Sway Suppression for Autonomous Passenger Vehicles
This study addresses trailer sway in autonomous vehicles using a linear quadratic regulator. A Kalman filter estimates trailer states from tow-vehicle sensors, improving yaw stability and reducing oscillation in simulations.
Source: arXiv Robotics — research abstracts · Read original article ↗
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a Kalman filter from measurements taken only on the tow vehicle. The controller is then implemented and evaluated in a MuJoCo multibody simulation across a range of longitudinal speeds and tongue-load conditions, including the negative-tongue-load regime. Results show a significant decrease in trailer oscillation when controlling a given vehicle's steering with an LQR using tow-vehicle IMU and LiDAR data. These findi
Open source S5
Model-Based Trailer-Sway Suppression for Autonomous Passenger Vehicles
Open source S1
Source：arXiv Robotics — research abstracts · arxiv.org