This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Research on the Control Strategy of Trailer Tracking Tractor for Articulated Heavy Vehicles
Technical Paper
2019-01-5054
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
The purpose of this paper is to improve the path-following capability and high-speed lateral stability of the articulated heavy vehicles (AHVs). The six-axle heavy articulated vehicle was taken as the research object, in order to simplify the control design, the three-axle trailer of the articulated vehicles was simplified to a single-axle trailer. The Newton's second law was applied to the tractor unit and the single-axle trailer unit respectively, a three-degree-of-freedom vehicle yaw plane model was established, and its state space equation was derived. The trailer steering controller was designed by linear quadratic regulator (LQR) technique. At the same time, the optimal index function was determined by combining the vehicle state variables, and the optimal control input was obtained by using the algebraic Riccati equation. In order to achieve better control of the trailer unit, the relationship of the Ackerman steering geometry is used to obtain the ideal angle of each tire of the trailer unit. Co-simulation of low-speed steady circular motion and double lane change motion in Matlab/Simulink and Trucksim was carried out to verify the validity of the proposed vehicle model and the designed trailer steering controller. The simulation results show that the designed controller significantly improves the path following performance of the trailer unit and enhances the high-speed lateral stability.
Authors
Citation
Pan, K., Zheng, H., and Wu, J., "Research on the Control Strategy of Trailer Tracking Tractor for Articulated Heavy Vehicles," SAE Technical Paper 2019-01-5054, 2019, https://doi.org/10.4271/2019-01-5054.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 |
Also In
References
- China-SAE Technology Roadmap for Energy Saving and New Energy Vehicles Beijing Mechanical Industry Press 2016
- Guo , J. , Li , K. , and Luo , Y. Review on the Research of Motion Control for Intelligent Vehicles J Automotive Safety and Energy 7 02 151 159 2016
- Hayakawa , Y. , White , R. , Kimura , T. et al. Driver Compatible Steering System for Wide Speed-Range Path Following IEEE/ASME Trans Mechatronics 9 3 545 552 2004
- Cremean , L.B. , Foote , T.B. , Gillua , J.H. et al. Alice: an Information-Rich Autonomous Vehicle for Highway-Speed Desert Navigation J Field Robotics 23 9 777 810 2006
- Sebastian , T. , Mike , M. , Hendrik , D. et al. Stanley: the Robot that Won the DARPA Grand Challenge J Field Robotics 23 9 661 692 2006
- Netto , M. , Blossville , J.M. , Lusetti , B. et al. A New Robust Control System with Optimized Use of the Lane Detection Data for Vehicle Full Lateral Control Under Strong Curvatures IEEE Intell Transp Syst Conf 1382 1387 Sept 17-20, 2006
- Zhao , X. and Chen , H. A Study on Lateral Control Method for the Path Tracking of Intelligent Vehicles Automotive Engineering 33 5 383 387 2011
- Huang , J. and Tomizuka , M. LTV Controller Design for Vehicle Lateral Control under Fault Linear Sensors IEEE/ASME Trans Mechatronics 10 1 1 7 2005
- Rajamani , R. , Zhu , C. , and Alexander , L. Lateral Control of a Backward Driven Front-Steering Vehicle Control Eng Pract 11 5 531 540 2003
- Choi , S.B. The Design of a Look-Down Feedback Adaptive Controller for the Lateral Control of Front Wheel Steering Autonomous Highway Vehicles IEEE Trans Vehi Tech 29 6 2257 2269 2000
- Falcone , P. , Borrelli , F. , and Asgari , J. Predictive Active Steering Control for Autonomous Vehicle Systems IEEE Trans Contr Syst Tech 15 3 566 580 2007
- Guo , J. , Li , L. , Li , K. et al. An Adaptive Fuzzy-Sliding Lateral Control Strategy of Automated Vehicles Based on Vision Navigation Vehi Syst Dyn 51 10 1502 1517 2013
- Broggi , A. , Bertozzi , M. , Fascioli , A. et al. The ARGO Autonomous Vehicle’s Vision and Control Systems Int'l J Intell Contr Syst 3 4 409 441 1999
- Perez , J. , Milanes , V. , and Onieva , E. Cascade Architecture for Lateral Control in Autonomous Vehicles IEEE Trans Intell Transp Syst 12 1 73 82 2011
- Yang , J. , Yun , S. , and Huh , K. Narrow Passage Assistant System for Rear Wheel Steering Semi-Trailer Truck 2017 2nd IEEE International Conference on Intelligent Transportation Engineering (ICITE) 2017 9 13
- Tai , M. and Tomizuka , M. Experimental Study of Lateral Control of Heavy Vehicles for Automated Highway Systems Proc Ame Contr Conf Anchorage, AK May 8-10, 2002 851 865
- He , Y. , Islam , M.M. , and Timothy , D.W. An Integrated Design Method for Articulated Heavy Vehicles with ATS Systems SAE Technical Paper 2010-01-0092 2010 10.4271/2010-01-0092
- Lin , X. , Ding , N. , Xu , G. , and Gao , F. High Speed Optimal Yaw Stability of Tractor-Semitrailers with ATS SAE Technical Paper 2014-01-0093 2014 10.4271/2014-01-0093
- Wang , Q. , Zhu , S. , and He , Y. Model Reference Adaptive Control for ATS of Articulated Heavy Vehicles SAE Technical Paper 2015-01-1495 2015 10.4271/2015-01-1495
- Beyersdorfer , S. and Wagner , S. Novel Model Based Path Planning for Multi-Axle Steered Heavy Load Vehicles Proceedings of the 16th International IEEE Annual Conference on Intelligent Transportation Systems (ITSC 2013) The Hague, The Netherlands October 6-9, 2013
- Ding , X. and He , Y. Design and Evaluation of ATS Systems of Long Combination Vehicles Using Driver-Software-in-the-Loop Simulations SAE Technical Paper 2012-01-0934 2012 10.4271/2012-01-0934
- Xu , X. , Zhang , L. , Jiang , Y. et al. Active Control on Path Following and Lateral Stability for Truck-Trailer Arab J Sci Eng 44 1365 2019 10.1007/s13369-018-3527-1
- Jujnovich , B.A. and Cebon , D. Path-Following Steering Control for Articulated Vehicles J. Dyn. Sys., Meas., Control 135 3 031006 2013 10.1115/1.4023396
- Miao , Q. 2015
- Nie , Z. 2014
- Lewis , F.L. http://www.uta.edu/utari/acs/Lectures/lqr.pdf 2008
- SAE, J2179 2000