Path following algorithm for reversing a heavy-duty vehicle

Abstract

A computer implemented method controls a non-articulated heavy-duty vehicle during a reversal maneuver. The method includes obtaining a pose path indicative of a path to be followed by the vehicle and an orientation to be adhered to by the vehicle during the reversal maneuver, determining a virtual front wheel geometry of the vehicle by mirroring a steered front wheel of the vehicle about a non-steered rear wheel location on the vehicle, along a longitudinal extension direction of a wheelbase of the vehicle, where the mirrored steered front wheel corresponds to a virtual front wheel in the virtual front wheel geometry, establishing a control relationship between the virtual front wheel and the steered front wheel, such that a steered angle at the virtual front wheel corresponds to an equivalent steered angle at the steered front wheel, determining a virtual front wheel target path based on the virtual front wheel geometry of the vehicle and on the pose path, and controlling the heavy-duty vehicle by controlling the virtual front wheel to follow the virtual front wheel target path.