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This paper introduces a modified Hybrid A* algorithm for reverse path planning of a vehicle with a trailer, specifically addressing the challenges of collision avoidance and jackknife prevention. The algorithm incorporates system configuration-dependent steering limits to prevent jackknifing and integrates collision checking to navigate around obstacles. Simulation results demonstrate the algorithm's efficacy in generating feasible and safe reverse parking maneuvers for vehicle-trailer systems.
Successfully backing up a trailer without jackknifing or hitting anything just got easier thanks to a new path-planning algorithm that respects the physics of articulated vehicles.
Reverse parking maneuvering of a vehicle with trailer system is a difficult task to complete for human drivers due to the multi-body nature of the system and the unintuitive controls required to orientate the trailer properly. The problem is complicated with the presence of other vehicles that the trailer and its connected vehicle must avoid during the reverse parking maneuver. While path planning methods in reverse motion for vehicles with trailers exist, there is a lack of results that also offer collision avoidance as part of the algorithm. This paper hence proposes a modified Hybrid A*-based algorithm that can accommodate the vehicle-trailer system as well as collision avoidance considerations with the other vehicles and obstacles in the parking environment. One of the novelties of this proposed approach is its adaptability to the vehicle with trailer system, where limits of usable steering input that prevent the occurrence of jackknife incidents vary with respect to system configuration. The other contribution is the addition of the collision avoidance functionality which the standard Hybrid A* algorithm lacks. The method is developed and presented first, followed by simulation case studies to demonstrate the efficacy of the proposed approach.
