Lateral Control of Heavy Duty Vehicles for Automated Highway Systems
نویسندگان
چکیده
Three results pertaining to lateral control of heavy duty vehicles on Automated Highway System are presented. First, a time domain, frequency domain and pole/zero analysis of the linearized model for lateral control of tractor-trailer vehicles is presented. The steering response subject to variation of speed, road adhesion and look-ahead distance is studied. Based on the analysis, a simple baseline controller is designed. The close-loop simulation is conducted to show that the designed controller meets the requirement of the maximum lateral displacement that should not exceed 0.2m. Secondly, an offtracking analysis based on the linear model of tractor semitrailer is presented. It is shown that as the longitudinal velocity decreases, the dynamic offtracking converges to the kinematic offracking value. Finally, a general method of deriving dynamic models for any configuration of heavy duty vehicles is presented. For a heavy duty vehicle with N units, a complex 6N i degree of freedom simulation model is derived. Additionally, a simple (2 + N) degree of freedom model is derived for the purpose of controller design. Constraint forces between adjacent units are obtained. The effects of dolly tire steering angle, front tire steering angles of each unit, if any, and traction and braking torques on each wheel are included in both models. A simplified non-linear analytical model of tractor-semitrailer is presented and compared to the previous model. keywords: Dynamic Modeling, Advanced Vehicle Control Systems, Lateral Control, Steering Control, Heavy Duty Vehicles.
منابع مشابه
Fault Tolerant Autonomous Lateral Control for Heavy Vehicles
The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This report does not constitute a standard, specification, or regulation. Lateral Control for Heavy Vehicles ". This project represents a continuing effort ...
متن کاملLateral Control of Heavy Duty Vehicles for Automated Highway System: Experimental Study on a Tractor Semi-trailer California PATH Working Paper UCB-ITS-PWP-2000-1 CALIFORNIA PARTNERS FOR ADVANCED TRANSIT AND HIGHWAYS
This report presents achievements of the MOU 313. “Lateral Control of Heavy Duty Vehicles for Automated Highway Systems” in the year 1998-1999. The goal of the project is to demonstrate lane following by automatic steering for tractor semi-trailer vehicles. Towards this goal, a class eight truck and a 45 feet long trailer were instrumented. The hardware development was a major effort in this ye...
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