Implementation of active steering on longer combination vehicles for enhanced lateral performance
Journal article, 2012

A steering-based controller for improving lateral performance of longer combination vehicles (LCVs) is proposed. The controller steers the axles of the towed units to regulate the time span between the driver steering and generation of tyre lateral forces at the towed units and consequently reduces the yaw rate rearward amplification (RWA) and offtracking. The open-loop effectiveness of the controller is evaluated with simulations and its closed loop or driver in the loop effectiveness is verified on a test track with a truck-dolly-semitrailer test vehicle in a series of single-and double-lane change manoeuvres. The developed controller reduces the yaw rate RWA and offtracking considerably without diminishing the manoeuvrability. Furthermore, as a byproduct, it decreases the lateral acceleration RWA moderately. The obtained safety improvements by the proposed controller can promote the use of LCVs in traffic which will result in the reduction of congestion problem as well as environmental and economic benefits.



rearward amplification

longer combination vehicle


lateral performance

full trailers



active steering



Sogol Kharrazi

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

Mathias R Lidberg

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

R. Roebuck

University of Cambridge

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control, Mechatronics

A. Odhams

University of Cambridge

Vehicle System Dynamics

0042-3114 (ISSN)

Vol. 50 12 1949-1970

Subject Categories

Mechanical Engineering



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