Lateral Control Of Heavy Duty Vehicles For Automated Highway Systems

M. Tai, J.-y. Wang, P. Hingwe, C. Chen and M. Tomizuka

Institute of Transportation Studies, Research Reports, Working Papers, Proceedings from Institute of Transportation Studies, UC Berkeley

Abstract: This report presents a linear analysis of a tractor semitrailer model. The analysis is followed by the design of a simple linear controller for lane following. Offtracking analysis is presented for a single unit vehicle and tractor semitrailer. This analysis is independent of the control design. Modeling of multi-unit articulated vehicles is also presented. Both a complex simulation model and a simplified control design model are derived for a general road train.

Keywords: Automobiles--Automatic control; Motor vehicles--Automatic control; Advanced vehicle control systems; Automatic vehicle monitoring (search for similar items in EconPapers)
Date: 1998-01-01
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