Auto docking: design and implementation for a semi-trailer truck

T. Kabos, Technische Universiteit Eindhoven (TUE). Stan Ackermans Instituut. Automotive Systems Design (ASD)

Research output: ThesisPd Eng Thesis

10 Downloads (Pure)

Abstract

This report presents the design and implementation of an automated docking system for semi-trailer trucks. The main goal of this project was to develop a proof of concept for fully autonomous docking, by implementing such a system on a truck, using rapid control prototyping hardware. In the first part of the report, an analysis of the problem is provided, which explains what fields of study this topic touches on and gives insight into how an automated parking system benefits both DAF and its customers. After the problem analysis, requirement elicitation is described, resulting in a set of use cases and their derived requirements. To fulfill these requirements, a system architecture is proposed, defining the required sensors and actuators. After this the controller design is explained, also providing a stability analysis and simulation results. The chapters that follow describe how the designed system was implemented on a prototype vehicle, along with the resulting performance and a comparison to simulation. The report finishes with a description of the project management process (including planning and risk analysis) and a conclusion.
Original languageEnglish
Awarding Institution
Supervisors/Advisors
  • Nijmeijer, Henk, Supervisor
  • Besselink, Igo J.M., Supervisor
  • van der Knaap, A., External supervisor, External person
  • Huisman, Rudolf G.M., External supervisor
Award date30 Sep 2015
Place of PublicationEindhoven
Publisher
Print ISBNs978-90-444-1378-6
Publication statusPublished - 30 Sep 2015

Bibliographical note

Eindverslag. - Confidential for ever.

Fingerprint Dive into the research topics of 'Auto docking: design and implementation for a semi-trailer truck'. Together they form a unique fingerprint.

Cite this