A hierarchical hybrid fuzzy controller for real-time reverse driving support of vehicles with long trailers

A hierarchical hybrid fuzzy controller, consisting of higher level and lower level knowledge bases, that can be fuzzy or crisp, is employed for supporting continuous reverse driving of vehicles with long trailers. The controller is implemented in a prototype board with a commercially available microcontroller. The usefulness of this novel application could be successfully demonstrated by several experiments performed with a model truck and a long trailer.<
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