Safety Concerns in Automatic Control of Heavy-Duty Articulated Vehicles

This paper discusses safety issues of heavy-duty vehicles under automatic steering control. The paper analyzes some fundamental control issues that have to be treated in the transition from a human driver to an automated control system, and focuses on the role of lateral stability as the critical issue to guarantee vehicle safety in both tracking and emergency scenarios. Tire force saturation and steer angle limit are emphasized as the most important nonlinear effects that must be thoroughly understood in developing appropriate controls. Simplified piecewise linear characteristics are proposed for use in design models. A simple differential brake control is formulated to show its effect on reducing trailer swing. The differential brake works towards integrating the effects to control the lateral dynamics, with brake action and steering determined by the road condition as well.


  • English

Media Info

  • Media Type: Print
  • Features: Appendices; Figures; References; Tables;
  • Pagination: pp 87-101
  • Monograph Title: Safety Performance and Accident Free Driving

Subject/Index Terms

Filing Info

  • Accession Number: 01003834
  • Record Type: Publication
  • ISBN: 0768015332
  • Files: TRIS
  • Created Date: Sep 11 2005 10:59PM