Lateral Control of Heavy Duty Vehicles for Automated Highway Systems

This report presents a linear analysis of a tractor semitrailer model. The analysis is followed by the design of a simple linear controller for lane following. Offtracking analysis is presented for a single unit vehicle and tractor semitrailer. This analysis is independent of the control design. Modeling of multi-unit articulated vehicles is also presented. Both a complex simulation model and a simplified control design model are derived for a general road train.

  • Record URL:
  • Availability:
  • Corporate Authors:

    University of California, Berkeley

    Institute of Transportation Studies
    McLaughlin Hall
    Berkeley, CA  United States  94720

    University of California, Berkeley

    Department of Mechanical Engineering
    Berkeley, CA  United States  94720-1740

    University of California, Berkeley

    California PATH Program, Institute of Transportation Studies
    Richmond Field Station, 1357 South 46th Street
    Richmond, CA  United States  94804-4648

    California Department of Transportation

    Office of Research, P.O. Box 942873
    Sacramento, CA  United States  94273-0001
  • Authors:
    • Tai, M
    • Wang, J -
    • Hingwe, P
    • Chen, Cheng-Hsing
    • Tomizuka, M
  • Publication Date: 1999-2

Language

  • English

Media Info

  • Media Type: Digital/other
  • Pagination: 89p
  • Serial:

Subject/Index Terms

Filing Info

  • Accession Number: 01397266
  • Record Type: Publication
  • Source Agency: ARRB
  • Report/Paper Numbers: UCB-ITS-PRR-98-8
  • Files: ITRD, PATH, CALTRANS, ATRI, STATEDOT
  • Created Date: Aug 23 2012 4:39PM