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Productportfolio of the Working Group Zöbel

Truck Driving Simulation (PC Version)	Backing up vehicles with trailer is accompanied by a high degree of difficulty, since the kinematics of articulated vehicles is very complex and hard to control. To support the student drivers during their apprenticeship, we developed a 3D truck driving simulation to learn and practice the steering behavior of articulated vehicles. To apply the simulation, a standard computer and a PC steering wheel with pedals is needed. The simulation comes up with all commercially available trucks with trailer to accomplish basic driving tasks or complete scenarios. By using the truck driving simulation the student driver can get familiar with different truck types and improve his sensitivity in steering articulated vehicles.
Truck Driving Simulator (Driving Stand Version)	Besides a PC-based truck driving simulation, a truck simulator including a complete driving stand has been developed. The driving stand consists of original components of a Mercedes Actros like steering wheel, pedals dashboard, gearbox, and driver seat. All exterior mirrors are visualized on computer displays. By the use of the simulator, the driver can learn and practice the driving and steering behavior of articulated vehicles. The simulation comes up with all commercially available trucks with trailer including a gigaliner. Based of the realistic steering behavior the student driver can get familiar with different truck types and improve his sensitivity in steering articulated vehicles.
Bending angle sensor for tractors with one-axle trailer	To measure the bending angle between the longitudinal axes of truck and one-axle trailer, we developed a contact-free optical sensor. Therefore, we mounted a camera on the back of a tractor. This camera monitors a pattern which is mounted on the front of the trailer. Based on the position of the pattern within the camera image, the bending angle is computed. The sensor was realized on a test vehicle.
Bending angle sensor for tractors with semitrailer	To measure the bending angle between the longitudinal axes of a truck and a semitrailer, we developed a contact-free optical sensor. Therefore, we mounted a camera within the frame of a tractor. This camera monitors a pattern which is mounted on the undersurface of the trailer. Based on the pattern within the camera image, the bending angle is computed. The sensor was realized on a test vehicle.
Bending angle sensor for tractors with two-axle trailer	Tractors with two-axle trailer with semi pivot steering have two bending angles, one angle between tractor and drawbar, and one angle between drawbar and trailer. To measure both bending angles, we developed a contact-free optical sensor. Therefore, we mounted a camera on the back of a tractor. This camera monitors a special pattern which is mounted on the front of the trailer. Based on the position of the pattern within the camera image, both bending angles are computed within one measurement. The sensor was realized on a test vehicle.
Visual Reverse Driving Assistance System for tractors with one-axle trailer or semitrailer	For backing up a tractor with one-axle trailer or semitrailer, we developed a visual driver assistance system. Therefore, a rear view camera is mounted at the end of the trailer. The image of this camera is visualized on a display beside the driver. The image is superimposed by the trajectories of the trailer and the whole articulated vehicle. On the basis of the trajectories, the driver can perceive the future behavior of tractor and trailer. Steering mistakes can be identified and prevented immediately, because the visualized trajectories are sensitive to changes of the steering angle and the bending angle. Furthermore, a destination can be aimed and attained accurately. The reverse driving assistance system is realized in a 3D simulation environment and in a test vehicle with one-axle trailer.
Visual Reverse Driving Assistance System for tractors with two-axle trailer	For backing up a tractor with two-axle trailer with semi pivot steering, we developed a visual driver assistance system. Therefore, a rear view camera is mounted at the end of the trailer. The image of this camera is visualized on a display beside the driver. The image is superimposed by the trajectories of the tractor, the trailer and the whole articulated vehicle. On the basis of the trajectories, the driver can control the future behavior of all parts of the articulated vehicle. Steering mistakes can be identified and prevented immediately, because the visualized trajectories are sensitive to changes of the steering angle and the bending angles. The reverse driving assistance system is realized within a 3D simulation environment and can particularly used for backing up so-called gigaliners.
Haptic Reverse Driving Assistance System	For backing up a tractor with one-axle trailer, we developed a driver assistance system with haptic feedback. Instead of positioning the wheels of the steering axle, the steering wheel controls the bending angle of the articulated vehicle. That means that a tractor with one-axle trailer can be driven like a vehicle without trailer. To realize this modified steering behavior, the tractor has to be equipped with a steer-by-wire system. Furthermore, the driver gets haptic information about the vehicle state by a force feedback steering wheel. By means of the haptic information the driver is guided to move the articulated vehicle on concentric tracks.