Maneuvering a general 2-trailer with a car-like tractor in backward motion is a task that requires significant skill to master and is unarguably one of the most complicated tasks a truck driver has to perform. This paper presents a path planning and path-following control solution that can be used to automatically plan and execute difficult parking and obstacle avoidance maneuvers by combining backward and forward motion. A lattice-based path planning framework is developed in order to generate kinematically feasible and collision-free paths and a path-following controller is designed to stabilize the lateral and angular path-following error states during path execution. To estimate the vehicle states needed for control, a nonlinear observer is developed which only utilizes information from sensors that are mounted on the car-like tractor, making the system independent of additional trailer sensors. The proposed path planning and path-following control framework is implemented on a full-scale test vehicle and results from simulations and real-world experiments are presented.

中文翻译：

---

具有类似汽车的牵引车的通用2拖车的路径规划和路径跟随控制框架

用类似汽车的拖拉机向后操纵一辆普通的 2 拖车是一项需要掌握大量技能的任务，而且毫无疑问是卡车司机必须执行的最复杂的任务之一。本文提出了一种路径规划和路径跟随控制解决方案，可用于通过组合前后运动来自动规划和执行困难的停车和避障机动。开发了基于格的路径规划框架以生成运动学上可行且无碰撞的路径，并且设计了路径跟随控制器以在路径执行期间稳定横向和角路径跟随错误状态。为了估计控制所需的车辆状态，开发了一种非线性观测器，它仅利用来自安装在类似汽车的拖拉机上的传感器的信息，使系统独立于额外的拖车传感器。提出的路径规划和路径跟踪控制框架在全尺寸测试车辆上实施，并提供了模拟和实际实验的结果。