De Saxe, Christopher CCebon, D2018-07-242018-07-242018-06De Saxe, C.C. and Cebon, D. 2018. Estimation of trailer off-tracking using visual odometry. Vehicle System Dynamics: DOI: 10.1080/00423114.2018.14844980042-3114https://www.tandfonline.com/doi/full/10.1080/00423114.2018.1484498https://doi.org/10.1080/00423114.2018.1484498http://hdl.handle.net/10204/10327© 2018 The Author(s). This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.High-capacity vehicles have been shown to be highly effective in reducing emissions associated with road freight transport. However, the reduced manoeuvrability of long vehicles often necessitates the use of active trailer steering. Path-following trailer steering systems are very effective in this regard, but are currently limited to on-highway applications due to the manner in which trailer off-tracking is estimated. In this work, a novel trailer off-tracking measurement concept is introduced which is independent of wheel slip and ground surface conditions, and requires no additional sensor measurements or parameter data from the tractor. The concept utilises a stereo camera pair affixed to the trailer and a visual odometry-based algorithm to calculate off-tracking. The concept was evaluated in detailed simulation and full-scale vehicle tests, demonstrating its feasibility and highlighting some important characteristics. RMS measurement errors of 0.11–0.12m (3.3–3.6%) were obtained in a challenging visual environment.enOff-trackingTrailer steeringVisual odometryStereo visionArticulated vehiclesArticleDe Saxe, C. C., & Cebon, D. (2018). Estimation of trailer off-tracking using visual odometry. http://hdl.handle.net/10204/10327De Saxe, Christopher C, and D Cebon "Estimation of trailer off-tracking using visual odometry." (2018) http://hdl.handle.net/10204/10327De Saxe CC, Cebon D. Estimation of trailer off-tracking using visual odometry. 2018; http://hdl.handle.net/10204/10327.TY - Article AU - De Saxe, Christopher C AU - Cebon, D AB - High-capacity vehicles have been shown to be highly effective in reducing emissions associated with road freight transport. However, the reduced manoeuvrability of long vehicles often necessitates the use of active trailer steering. Path-following trailer steering systems are very effective in this regard, but are currently limited to on-highway applications due to the manner in which trailer off-tracking is estimated. In this work, a novel trailer off-tracking measurement concept is introduced which is independent of wheel slip and ground surface conditions, and requires no additional sensor measurements or parameter data from the tractor. The concept utilises a stereo camera pair affixed to the trailer and a visual odometry-based algorithm to calculate off-tracking. The concept was evaluated in detailed simulation and full-scale vehicle tests, demonstrating its feasibility and highlighting some important characteristics. RMS measurement errors of 0.11–0.12m (3.3–3.6%) were obtained in a challenging visual environment. DA - 2018-06 DB - ResearchSpace DP - CSIR KW - Off-tracking KW - Trailer steering KW - Visual odometry KW - Stereo vision KW - Articulated vehicles LK - https://researchspace.csir.co.za PY - 2018 SM - 0042-3114 T1 - Estimation of trailer off-tracking using visual odometry TI - Estimation of trailer off-tracking using visual odometry UR - http://hdl.handle.net/10204/10327 ER -