Lateral Trajectory Stabilization of an Articulated Truck during Reverse Driving Maneuvers

Kumar, Mohit; Hildebrandt, Arne-Christoph; Strauß, Peter; Kraus, Sven; Stiller, Christoph; Zimmermann, Andreas

doi:10.1109/iv47402.2020.9304691

Cited by 5 publications

(1 citation statement)

References 3 publications

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“…For the ASV, the current research focuses on the efect of the hydraulic steering system on the vehicle dynamics [12,13], lateral stability infuence factor analysis [14], improving the vehicle stability by the control of ASS [15], and antirollover system [16].…”

Section: Introductionmentioning

confidence: 99%

Coordination Control of Active Steering and Direct Yaw Control for the Articulated Steering Vehicle

Huang

Zhang²,

Peng

et al. 2023

Shock and Vibration

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Lateral stability is vital to vehicle handling stability and traffic safety. It is also a crucial factor for the path-tracking ability of the vehicle in the intelligent transportation system (ITS). Most of the research focuses on vehicles with an Ackerman steering system. The ASV (articulated steering vehicle) has a lower steering radius. Thus, it is widely used in some special vehicles, such as mining and construction vehicles. The ASV has weaker lateral stability than the vehicle with an Ackerman steering system. To improve the stability of an ASV, the nonlinear lateral dynamic model is established and validated by field test. With the lateral dynamic model, the steering characteristic of the ASV is analyzed. Based on the stability criteria analysis, the vehicle sideslip angle and angular velocity phase portrait are chosen as the stability indicator. An integrated AASS (active articulated steering system) DYC (direct yaw control) controller based on the adaptive MPC (model predictive control) method is designed according to the track on the phase plane. The double lane-change and 0.7 Hz sine with dwell maneuver are initiated based on the integrated vehicle dynamic model. The results suggest that the provided controller has a better stability performance than the current antiwindup PID control algorithm. It lays a good foundation for the vehicle safety and path tracking of ASV in the ITS.

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Section: Introductionmentioning

confidence: 99%

Coordination Control of Active Steering and Direct Yaw Control for the Articulated Steering Vehicle

Huang

Zhang²,

Peng

et al. 2023

Shock and Vibration

View full text Add to dashboard Cite

show abstract

Research on Path Tracking Control of Driverless Trucks

Song,

Min,

Zhang

et al. 2024

Lecture Notes in Mechanical Engineering

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Path tracking is a crucial function for achieving unmanned driving. This paper addresses the challenge of low tracking accuracy and poor stability in driverless trucks caused by uncertain model parameters and steady-state errors during path tracking. A linear quadratic regulator (LQR) controller optimization by an improved genetic algorithm has been designed. Firstly, the paper formulates the dynamic model of a two-degree-of-freedom vehicle as well as the model for tracking error. Subsequently, path tracking control is achieved through the utilization of feedforward control and LQR feedback control algorithms. Secondly, the weight coefficient of the LQR controller is enhanced through the utilization of an improved GA in order to boost the precision of path tracking. Ultimately, the devised controller undergoes simulation and validation in the TruckSim-Matlab/Simulink platform across diverse operational circumstances. The findings from the simulation demonstrate that the controller, optimized through improvements in the genetic algorithm, exhibits excellent tracking accuracy and stability.

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Conception and Experimental Validation of a Model Predictive Control (MPC) for Lateral Control of a Truck-Trailer

Kumar

Haas²,

Strauß³

et al. 2022

2022 IEEE Intelligent Vehicles Symposium (IV)

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Lateral Trajectory Stabilization of an Articulated Truck during Reverse Driving Maneuvers

Cited by 5 publications

References 3 publications

Coordination Control of Active Steering and Direct Yaw Control for the Articulated Steering Vehicle

Coordination Control of Active Steering and Direct Yaw Control for the Articulated Steering Vehicle

Research on Path Tracking Control of Driverless Trucks

Conception and Experimental Validation of a Model Predictive Control (MPC) for Lateral Control of a Truck-Trailer

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