Development of Path Generation & Tracking Algorithm for Reverse Perpendicular Parking System of Autonomous Tractor-Trailer

Driving a trailer forward is not difficult. However, it is challenging to drive in reverse due to the parking characteristics as the trailer turns opposite to the steering direction of the vehicle. This paper proposes an improved method to reverse-drive a trailer into a parking space autonomously. Since the existing method used only the hitch angle to control the trailer, oscillations and unstable command values were calculated. In this paper, the trailer is autonomously parked using a simple pure pursuit tracking algorithm without requiring additional infrastructure. The proposed method enables the trailer to detect the parking location and auto-park without any input from the driver. © ICROS 2022.