Automation of Precise Positioning of a Vehicle Trailer when Driving Backwards

We consider the problem of creating an automatic system for assisting a driver of a vehicle with a trailer when driving backwards with precise target positioning of the trailer (as illustrated by a vehicle entering a gate). We propose the use of proximity sensors for detecting the distance from the center of the back edge of the trailer to the edge of the gate. Relative angular velocity of the trailer, i.e. the angular velocity of the trailer relative to the vehicle speed is used as the controlled variable. An algorithm for the generation of the set value of this variable depending on the readings of a distance sensor is provided. The algorithm is based on setting the reference behavior of the control error. The law of deviation of the steered wheels of the vehicle, aimed at achieving the set value of the relative angular velocity of the trailer, is designed on an adaptive level based on the assumption of an initial rough estimate of the length of the trailer and the action of uncontrolled external disturbances. An algorithm of current parametric identification of the controlled object and an implicit reference model of the controlled variable behavior are used. The functioning of the closed-loop control system is based on “simplified” conditions of adaptability. A model example is provided.