{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:31:26Z","timestamp":1760243486768,"version":"build-2065373602"},"reference-count":39,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2013,4,3]],"date-time":"2013-04-03T00:00:00Z","timestamp":1364947200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.<\/jats:p>","DOI":"10.3390\/s130404485","type":"journal-article","created":{"date-parts":[[2013,4,3]],"date-time":"2013-04-03T11:51:12Z","timestamp":1364989872000},"page":"4485-4498","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1095-4775","authenticated-orcid":false,"given":"Jes\u00fas","family":"Morales","sequence":"first","affiliation":[{"name":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9994-6239","authenticated-orcid":false,"given":"Anthony","family":"Mandow","sequence":"additional","affiliation":[{"name":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8940-2465","authenticated-orcid":false,"given":"Jorge","family":"Mart\u00ednez","sequence":"additional","affiliation":[{"name":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antonio","family":"Reina","sequence":"additional","affiliation":[{"name":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alfonso","family":"Garc\u00eda-Cerezo","sequence":"additional","affiliation":[{"name":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2013,4,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"661","DOI":"10.3390\/s110100661","article-title":"Ultrasonic sensors in urban traffic driving-aid systems","volume":"11","author":"Alonso","year":"2011","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"3162","DOI":"10.3390\/s120303162","article-title":"Monocular camera\/IMU\/GNSS integration for ground vehicle navigation in challenging GNSS environments","volume":"12","author":"Chu","year":"2012","journal-title":"Sensors"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"2373","DOI":"10.3390\/s120302373","article-title":"A vision-based driver nighttime assistance and surveillance system based on intelligent image sensing techniques and a heterogamous dual-core embedded system architecture","volume":"12","author":"Chen","year":"2012","journal-title":"Sensors"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"8028","DOI":"10.3390\/s100908028","article-title":"Identifying and tracking pedestrians based on sensor fusion and motion stability predictions","volume":"10","author":"Musleh","year":"2010","journal-title":"Sensors"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1148","DOI":"10.3390\/s120201148","article-title":"Complete vision-based traffic sign recognition supported by an I2V communication system","volume":"12","author":"Llorca","year":"2012","journal-title":"Sensors"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"232","DOI":"10.1109\/TITS.2010.2085435","article-title":"Easy calibration of a blind-spot-free fisheye camera system using a scene of a parking space","volume":"12","author":"Li","year":"2011","journal-title":"IEEE Trans. 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