Path-tracking errors for active trailer steering off-highway: a simulation study. (29th July 2019)

• Record Type: Journal Article
• Authors: Miao, Qiheng; Cebon, David
• Is Part Of: International journal of heavy vehicle systems. Volume 26:Number 3/4(2019)
• Page Start: 405
• Page End: 431
• Publication Date: 2019-07-29
• Subjects: simulation study -- path-following control -- active steering -- off-highway; Motor vehicles -- Design and construction -- Periodicals; Commercial vehicles -- Design and construction -- Periodicals; Motor vehicles -- Design and construction; Periodicals; 629.224
• Languages: English
• ISSNs: 1744-232X

Abstract

This paper discusses the tracking performance of a path-following steering system when operating off-highway. Simulation studies were conducted on three types of vehicle models: tractor-semitrailer, B-double and A-triple. The vehicles were simulated for a straight-line and a 450 roundabout with various road camber, grade and adhesions. Results indicated that the path-following steering system was unable to provide good tracking performance under those conditions due to longitudinal and lateral wheel slip interfering with its estimation of trailer location and orientation.