Directional Control of a Driver-Heavy-Vehicle Closed-Loop System

Abstract

Abstract.A two degree of freedom (DOF) lateral dynamic model for a three-axe heavy vehicle is set up and the vehicle ordinary differential equations of motion are derived. The nonlinear lateral tire forces are obtained by Gim model with vertical loads, slip angles and cornering performances of front and rear tires being input parameters. A revised closed-loop single-point preview method is proposed to model the driver's directional control performance. In this proposed method, the steering angle of front wheels is calculated in real time according to the track error between a certain point ahead of the vehicle and the required route. Then the steering angle is input into the vehicle model to gain the dynamic responses and position of the vehicle in next time step. Thus the driver-heavy-vehicle closed-loop system is built. The dynamic responses of the system are simulated on the condition of double lane change and the effects of system parameters on the path following behavior of the vehicle are researched. Then the advice on how to improve the vehicle directional control ability can be brought forward.

Driver Steering Control and Full Vehicle Dynamics Study Based on a Nonlinear Three-Directional Coupled Heavy-Duty Vehicle Model

“…A traditional two-degree of freedom (2DOF) handling stability vehicle model for a three-axle heavy vehicle is set up which considers only the lateral and yaw motion [29]. The ordinary differential equations of motion of this 2DOF model may be expressed by…”