Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds
Artikel i vetenskaplig tidskrift, 2014

A high-speed path-following controller for long combination vehicles (LCVs) was designed and implemented on a test vehicle consisting of a rigid truck towing a dolly and a semitrailer. The vehicle was driven through a 3.5 m wide lane change maneuver at 80 km/h. The axles of the dolly and trailer were steered actively by electrically-controlled hydraulic actuators. Substantial performance benefits were recorded compared with the unsteered vehicle. For the best controller weightings, performance improvements relative to unsteered case were: lateral tracking error 75% reduction, rearward amplification (RA) of lateral acceleration 18% reduction, and RA of yaw rate 37% reduction. This represents a substantial improvement in stability margins. The system was found to work well in conjunction with the braking-based stability control system of the towing vehicle with no negative interaction effects being observed. In all cases, the stability control system and the steering system improved the yaw stability of the combination.


Richard Roebuck

University of Cambridge

Andrew Odhams

University of Cambridge

Kristoffer K D Tagesson

Volvo Group

Caizhen Cheng

University of Cambridge

David Cebon

University of Cambridge

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

0022-0434 (ISSN)

Vol. 136 2 Art. no. 021016-





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