Track Estimation for Multi-Axle Steered Vehicles

Due to the ever-increasing volume of transport, long truck-trailer combinations are required. To maintain maneuverability, several axles are actively steered in these transport systems. For steer-by-wire steering and maneuver assistance, the knowledge of the own vehicle track is essential. For this purpose, filter and observer approaches are investigated considering different sensor constellations.

Track-Trailer Configuration

Publications

• Huber, R.; Zipser, S.; Wagner, S.; Röbenack, K.: A high-gain observer vs. algebraic derivative methods for track estimation.
  Proc. of the 9th International Multi-Conference on Systems, Signals and Devices (SSD 2012), Chemnitz, 20-23 March 2012.
• Huber, R.; Zipser, S.; Wagner, S.; Röbenack, K.: Fault-Tolerant track estimation algorithm for truck-trailer vehicles.
  Proc. 56th International Scientific Colloquium, 2011.
• Huber, R.; Röbenack, K.; Zipser, S.; Wagner, S.: Beobachterentwurf zur Spurschätzung eines mehrachsgelenkten Fahrzeuges.
  In: Bertram, T.; Corves, B.; Janschek, K. (Hrsg.), Tagungsband Mechatronik 2011, 2011, 43-48.
• Huber, R.; Jäkel, J.; Zipser, S.; Wagner, S.: Track estimation for multi-axle steered truck-trailer vehicles.
  Proc. of the 12th Mechatronics Forum Biennial International Conference, Zurich, September 2010, pp. 294-301.