Integrated Active Steering Control Strategy for Autonomous Articulated Vehicles

An integrated active steering control strategy for tractor and trailer unit of articulated vehicles is presented in order to achieve both autonomous and safe motion. The tractor and trailer controllers are designed to preview and follow the demanded path automatically and safely. Based on model predictive control (MPC) theory, the integrated active steering controller of the tractor and trailer is designed to minimize path-tracking deviation while taking lateral stability into account. The maneuverability and stability of the articulated vehicle under the proposed control strategy are verified by simulations at low speed and high speed, respectively. The results confirm that the proposed integrated active steering system is capable of keeping the articulated vehicle automatically following the demanded path with high stability. The lateral stability and path-tracking of both tractor and trailer are significantly improved.

• Record URL:
  https://doi.org/10.1504/IJHVS.2020.111262
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/1744232X
• Supplemental Notes:
  • Copyright © 2020 Inderscience Enterprises Ltd.
• Authors:
  • Wang, Bo
  • Zha, Hongshan
  • Zhong, Guoqi
  • Li, Qin
  • Wang, Xiaobo
• Publication Date: 2020

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 565-599
• Serial:
  • International Journal of Heavy Vehicle Systems
  • Volume: 27
  • Issue Number: 5
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1744-232X
  • EISSN: 1741-5152
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=IJHVS

Subject/Index Terms

• TRT Terms: Automatic controllers; Automatic steering control; Autonomous vehicles; Dynamic stability; Steering components; Tractor trailer combinations; Vehicle trajectories
• Subject Areas: Design; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01760130
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 18 2020 10:44AM