Implementation of active steering on longer combination vehicles for enhanced lateral performance
Artikel i vetenskaplig tidskrift, 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.

longer combination vehicle


active steering



full trailers



rearward amplification

lateral performance



Sogol Kharrazi

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

Mathias R Lidberg

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

R. Roebuck

University of Cambridge

Jonas Fredriksson

Signaler och system, System- och reglerteknik, Mekatronik

A. Odhams

University of Cambridge

Vehicle System Dynamics

0042-3114 (ISSN)

Vol. 50 1949-1970