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.

References

References
1.
Woodrooffe
,
J.
, and
Ash
,
L.
,
2001
,
Economic Efficiency of Long Combination Transport Vehicles in Alberta
, Woodrooffe & Associates, Detroit, MI.
2.
Anon
,
Mechanics of Heavy Vehicle Systems course
,
2007
,
University of Michigan Transport Research Institute
, Ann Arbor, MI.
3.
Winkler
,
C. B.
, and
Ervin
,
R. D.
,
1999
, “
Rollover of Heavy Commercial Vehicles
,”
University of Michigan Transport Research Institute
, Report No. UMTRI-99-19.
4.
Jujnovich
,
B. A.
, and
Cebon
,
D.
, “
Path-Following Steering Control for Articulated Vehicles
,”
ASME J. Dyn. Syst., Meas., Control
(in press).
5.
Roebuck
,
R. L.
,
Odhams
,
A. M. C.
, and
Cebon
,
D.
, “
Implementation of Trailer Steering Control on a Multi-Unit Vehicle at Low Speeds
,”
Proc. Inst. Mech. Eng., Part D (J. Automob. Eng.)
(to be published).
6.
Odhams
,
A. M. C.
,
Roebuck
,
R. L.
,
Tagesson
,
K.
, and
Cebon
,
D.
, “
Reversing of a Double-Articulated Heavy Vehicle
,”
Proc. Inst. Mech. Eng., Part D (J. Automob. Eng.)
(to be published).
7.
Cheng
,
C.
,
Roebuck
,
R. L.
,
Odhams
,
A. M. C.
, and
Cebon
,
D.
, “
High-Speed Optimal Steering of a Tractor-Semitrailer
,”
Veh. Syst. Dyn.
(submitted).
8.
Hata
,
N.
,
Hasegawa
,
S.
,
Takahashi
,
S.
,
Ito
,
K.
, and
Fujishiro
,
T.
,
1989
, “
A Control Method for 4WS Truck to Suppress Excursion of a Body Rear Overhang
,” Society of Automobile Engineers, Technical Paper No. 892521.
9.
Notsu
,
I.
,
Takahashi
,
S.
, and
Watanabe
,
Y.
,
1991
, “
Investigation Into Turning Behavior of Semi-Trailer With Additional Trailer-Wheel Steering—A Control Method for Trailer-Wheel Steering to Minimize Trailer Rear—Overhang Swing in Short Turns
,” Society of Automobile Engineers, Technical Paper No. 912570.
10.
Jujnovich
,
B. A.
,
2005
, “
Active Steering of Articulated Vehicles
,” Ph.D. dissertation,
University of Cambridge
,
Cambridge, UK
.
11.
Sharp
,
R. S.
, and
Valtetsiotis
,
V.
,
2001
, “
Optimal Preview Car Steering Control
,”
Veh. Syst. Dyn. Suppl.
,
35
, pp.
101
117
.
12.
Cole
,
D. J.
,
Pick
,
A. J.
, and
Odhams
,
A. M. C.
,
2006
, “
Predictive and Linear Quadratic Methods for Potential Application to Modelling Driver Steering Control
,”
Veh. Syst. Dyn.
,
44
(
3
), pp.
259
284
.10.1080/00423110500260159
13.
Sampson
,
D. J. M.
, and
Cebon
,
D.
,
2003
, “
Achievable Roll Stability of Heavy Road Vehicles
,”
Proc. Inst. Mech. Eng., Part D (J. Automob. Eng.)
,
217
(
4
), pp.
269
287
.10.1243/09544070360613237
14.
Lin
,
R. C.
,
Cebon
,
D.
, and
Cole
,
D. J.
,
1996
, “
Active Roll Control of Articulated Vehicles
,”
Veh. Syst. Dyn.
,
26
(
1
), pp.
17
43
.10.1080/00423119608969300
15.
Cheng
,
C.
,
2009
, “
Enhancing Safety of Actively-Steered Articulated Vehicles
,” Ph.D. dissertation,
University of Cambridge, Cambridge
,
UK
.
16.
Roebuck
,
R. L.
,
Cheng
,
C.
,
Odhams
,
A. M. C.
, and
Cebon
,
D.
, “
High-Speed Optimal Steering of Multiply-Articulated Heavy Vehicles
,”
Veh. Syst. Dyn.
(submitted).
17.
Jujnovich
,
B. A.
,
Odhams
,
A. M. C.
,
Roebuck
,
R. L.
, and
Cebon
,
D.
,
2008
, “
Active Rear Steering Control of a Tractor—Semi-Trailer
,”
Proceedings of the 9th International Symposium on Advanced Vehicle Control
,
Kobe, Japan
, October.
18.
Roebuck
,
R. L.
,
Cebon
,
D.
,
Jeppesen
,
B. P.
, and
Haque
,
J.
,
2005
, “
A Systems Approach to Controlled Heavy Vehicle Suspensions
,”
Int. J. Heavy Veh. Syst.
,
12
(
3
), pp.
169
192
.10.1504/IJHVS.2005.008024
19.
Odhams
,
A. M. C.
,
Roebuck
,
R. L.
,
Cebon
,
D.
, and
Winkler
,
C. B.
,
2008
, “
Dynamic Safety of Active Trailer Steering Systems
,”
Proc. Inst. Mech. Eng., Part K: J. MultiBody Dyn.
,
222
(
4
), pp.
367
380
.10.1243/14644193JMBD174
20.
Roebuck
,
R. L.
,
Odhams
,
A. M. C.
, and
Cebon
,
D.
, “
An Automatically-Reconfigurable Software-Based Safety System for Rear-Steering Multi-Unit Vehicles
,”
Proc. Inst. Mech. Eng., Part D (J. Automob. Eng.)
(submitted).
21.
Anon
, Anthony Best Dynamics, Application Sheet AN6006, “
Path Following in Articulated Vehicle
,” http://www.abd.uk.com/upload/files/2007-03-05_11-02-15_AN6006%20-%20path%20following%20articulated%20vehicles.pdf
You do not currently have access to this content.