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.
|Award date||30 Sep 2015|
|Place of Publication||Eindhoven|
|Publication status||Published - 30 Sep 2015|