1. Electronic Engineering Final Year Project Progress Presentation Title: Trailer Reversing Prediction Supervisor: Dr. Martin Glavin

2. Project Overview  Aim of Project: Reversing a vehicle with a trailer in a straight line Reversing a vehicle with a trailer in a straight line Reversing a vehicle with a trailer from one parking space to another Reversing a vehicle with a trailer from one parking space to another Reversing with a trailer in a circle or an “eight” without “Jack-knife” Reversing with a trailer in a circle or an “eight” without “Jack-knife”

3. Topics of discussion  Reverse a vehicle-trailer system on a trajectory  Trajectory Tracking Control of a car-trailer system  Prototype  Progress to Date

4. Reverse a vehicle-trailer system on a trajectory This approach is relying on change of ‘variables’ to simplify the control. A proportional integral controller on the trailer hitch-angle from which a trajectory control algorithm can be applied. 1. Change of variables which brings the system into standard form 2. Optional control methods 3. Learning-based approaches

5. Cont. 1. It leads to complexity and high sensitivity to numerical approximation 2. But requires accurate models of the vehicle’s behaviour 3. If learning occurs from a model of the system, errors in the model are problematic This approach is based on two layer control loop:  A hitch-angle stabilisation loop controls the angle between vehicle and trailer  A path tracking control loop is adapted to the vehicle-trailer system

6. Trajectory Tracking Control of a car- trailer This is mainly focus on the trajectory tracking problem. 1. Path Planning – Generate a path connecting the desired initial and final configurations by using a nonholonomic path planner. 2. Trajectory Generation – Impose a velocity profile to convert the path to a trajectory. 3. Trajectory Tracking – Apply a real-time tracking controller to follow the trajectory.

7. Cont.  It leads to very complex equation on the tracking controller and this method requires a very heavy reliance on computational resources.

8. Prototype  a set of string-pot encoders is used to sense the hitch angle  Potentiometers – to read the trailer angle to read the steering angle to read the steering angle

9. Progress to Date  Matlab: Programming formula to find steering angle and trailer angle  If a steering angle is applied, show that the middle of front axle, the middle of rear axle and the hitch point are in a straight line

10. Questions / Suggestions?