{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/90383"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/90383","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Autonomous Tractor-Trailer Stopping and Jackknifing Dynamics","abstract":"With autonomy becoming a reality for passenger cars, developing an autonomous for tractor-trailers is the next step for driverless roads. Tractor-trailers are heavy, large, and have a pivot joint between the tractor and trailer that makes the movement between the two more complicated. The purpose of the research presented here is to determine the best forward \"looking\" perception sensor that will see far out enough for the vehicle to stop in time to avoid hitting an object. In order to determine the best sensor, a review of previous sensors and autonomous vehicle sensors will be explored along with the various perception technology. Additionally, a simulation of a tractor-trailer stopping was created to determine the range necessary for a forward perception sensor and when jackknifing may occur. The best brake type for a tractor-trailer will be recommended as well. Finally, the best forward sensor and senor layout for an autonomous tractor-trailer is made based upon the simulation results for the stopping distance of a tractor-trailer. The work, however, is not fully complete. A discussion of the future work and validation of the sensors selected will give future research goals.","abstract_html":"With autonomy becoming a reality for passenger cars, developing an autonomous for tractor-trailers is the next step for driverless roads. Tractor-trailers are heavy, large, and have a pivot joint between the tractor and trailer that makes the movement between the two more complicated. The purpose of the research presented here is to determine the best forward "looking" perception sensor that will see far out enough for the vehicle to stop in time to avoid hitting an object. In order to determine the best sensor, a review of previous sensors and autonomous vehicle sensors will be explored along with the various perception technology. Additionally, a simulation of a tractor-trailer stopping was created to determine the range necessary for a forward perception sensor and when jackknifing may occur. The best brake type for a tractor-trailer will be recommended as well. Finally, the best forward sensor and senor layout for an autonomous tractor-trailer is made based upon the simulation results for the stopping distance of a tractor-trailer. The work, however, is not fully complete. A discussion of the future work and validation of the sensors selected will give future research goals.","abstract_has_math":false,"creators":["Quartuccio, James Nathan"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Wicks, Alfred L."],"committee_members":["Southward, Steve C.","Asbeck, Alan T."],"year":2019,"date_issued":"2019-06-19","date_published":"2019-06-19","updated_at":"2026-07-22T22:19:32Z","subjects":["Autonomous Vehicle","Tractor-trailer","LiDAR","Camera","Radar","Sensors","Stopping Distance"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:14572"],"render_values":[{"text":"vt_gsexam:14572","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/90383","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Wicks, Alfred L."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Southward, Steve C.","Asbeck, Alan T."]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Quartuccio, James Nathan"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2019-06-20T08:02:42Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2019-06-20T08:02:42Z"]},{"key":"dc:date.issued","label":"Date","values":["2019-06-19"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Autonomous Vehicle","Tractor-trailer","LiDAR","Camera","Radar","Sensors","Stopping Distance"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:14572"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/90383"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["With autonomy becoming a reality for passenger cars, developing an autonomous for tractor-trailers is the next step for driverless roads. Tractor-trailers are heavy, large, and have a pivot joint between the tractor and trailer that makes the movement between the two more complicated. The purpose of the research presented here is to determine the best forward \"looking\" perception sensor that will see far out enough for the vehicle to stop in time to avoid hitting an object. In order to determine the best sensor, a review of previous sensors and autonomous vehicle sensors will be explored along with the various perception technology. Additionally, a simulation of a tractor-trailer stopping was created to determine the range necessary for a forward perception sensor and when jackknifing may occur. The best brake type for a tractor-trailer will be recommended as well. Finally, the best forward sensor and senor layout for an autonomous tractor-trailer is made based upon the simulation results for the stopping distance of a tractor-trailer. The work, however, is not fully complete. A discussion of the future work and validation of the sensors selected will give future research goals."]},{"key":"dc:description.abstractgeneral","label":"General Abstract","values":["With autonomy becoming a reality for passenger cars, developing an autonomous for tractor-trailers is the next step for driverless roads. Tractor-trailers are heavy, large, and have a pivot joint between the tractor and trailer that makes the movement between the two more complicated. The purpose of the research presented here is to determine the best forward “looking” perception sensor that will see far out enough for the vehicle to stop in time to avoid hitting an object. In order to determine the best sensor, a review of previous sensors and autonomous vehicle sensors will be explored along with the various perception technology. Additionally, a simulation of a tractor-trailer stopping was created to determine the range necessary for a forward perception sensor and when jackknifing may occur. The best brake type for a tractor-trailer will be recommended as well. Finally, the best forward sensor and senor layout for an autonomous tractor trailer is made based upon the simulation results for the stopping distance of a tractor-trailer. The work, however, is not fully complete. A discussion of the future work and validation of the sensors selected will give future research goals."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["Autonomous Tractor-Trailer Stopping and Jackknifing Dynamics"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Wicks, Alfred L."],"dc:contributor.committeemember":["Southward, Steve C.","Asbeck, Alan T."],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Quartuccio, James Nathan"],"dc:date.accessioned":["2019-06-20T08:02:42Z"],"dc:date.available":["2019-06-20T08:02:42Z"],"dc:date.issued":["2019-06-19"],"dc:description.abstract":["With autonomy becoming a reality for passenger cars, developing an autonomous for tractor-trailers is the next step for driverless roads. Tractor-trailers are heavy, large, and have a pivot joint between the tractor and trailer that makes the movement between the two more complicated. The purpose of the research presented here is to determine the best forward \"looking\" perception sensor that will see far out enough for the vehicle to stop in time to avoid hitting an object. In order to determine the best sensor, a review of previous sensors and autonomous vehicle sensors will be explored along with the various perception technology. Additionally, a simulation of a tractor-trailer stopping was created to determine the range necessary for a forward perception sensor and when jackknifing may occur. The best brake type for a tractor-trailer will be recommended as well. Finally, the best forward sensor and senor layout for an autonomous tractor-trailer is made based upon the simulation results for the stopping distance of a tractor-trailer. The work, however, is not fully complete. A discussion of the future work and validation of the sensors selected will give future research goals."],"dc:description.abstractgeneral":["With autonomy becoming a reality for passenger cars, developing an autonomous for tractor-trailers is the next step for driverless roads. Tractor-trailers are heavy, large, and have a pivot joint between the tractor and trailer that makes the movement between the two more complicated. The purpose of the research presented here is to determine the best forward “looking” perception sensor that will see far out enough for the vehicle to stop in time to avoid hitting an object. In order to determine the best sensor, a review of previous sensors and autonomous vehicle sensors will be explored along with the various perception technology. Additionally, a simulation of a tractor-trailer stopping was created to determine the range necessary for a forward perception sensor and when jackknifing may occur. The best brake type for a tractor-trailer will be recommended as well. Finally, the best forward sensor and senor layout for an autonomous tractor trailer is made based upon the simulation results for the stopping distance of a tractor-trailer. The work, however, is not fully complete. A discussion of the future work and validation of the sensors selected will give future research goals."],"dc:description.degree":["Master of Science"],"dc:format.medium":["ETD"],"dc:identifier.other":["vt_gsexam:14572"],"dc:identifier.uri":["http://hdl.handle.net/10919/90383"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["Autonomous Vehicle","Tractor-trailer","LiDAR","Camera","Radar","Sensors","Stopping Distance"],"dc:title":["Autonomous Tractor-Trailer Stopping and Jackknifing Dynamics"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:19:32Z"}