Improve Safety by Optimal Steering Control of a Converter Dolly Using Particle Swarm Optimization for Low-Speed Maneuvers

This paper offers a solution to the problem of poor path-following performance of high capacity transport (HCT) vehicles, such as A-double combinations, causing safety issue for the vulnerable road users during low-speed turning maneuvers. An advanced control strategy is developed which only demands the axles of the converter dolly of such vehicle to be actively steerable so that existing tractor and semitrailers can be used without any further modification. The control strategy described in this paper allows the change of forward speed and even to stop the vehicle completely during the turning maneuver without any performance degradation. The controller utilizes the delays of tractor front axle steering angle and the articulation angles measured not in traditional time but in path-distance domain. The optimal controller is achieved using particle swarm optimization (PSO) technique. Finally the optimal vehicle performance is compared with a baseline non-steerable converter dolly case and also with a proportional control case. Significant improvement in path-following performance is observed.

• Record URL:
  • https://doi.org/10.1109/ITSC.2015.383
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/isbn/9781467365956
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Islam, Mohammad Manjurul
  • Laine, Leo
  • Jacobson, Bengt
• Conference:
  • 18th International IEEE Conference on Intelligent Transportation Systems (ITSC)
  • Location: Canary Islands , Spain
  • Date: 2015-9-15 to 2015-9-18
• Publication Date: 2015

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 2370-2377
• Monograph Title: 18th International IEEE Conference on Intelligent Transportation Systems (ITSC 2015)

Subject/Index Terms

• TRT Terms: Automatic controllers; Automatic steering control; Axles; Heavy vehicles; Mathematical models; Optimization; Tractor trailer combinations
• Subject Areas: Freight Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01603058
• Record Type: Publication
• ISBN: 9781467365956
• Files: TRIS
• Created Date: Jun 28 2016 4:17PM