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Modeling And Control Of Articulated Vehicles

Chieh Chen and Masayoshi Tomizuka

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

Abstract: This report focuses on dynamic modeling and lateral control of commercial heavy-duty vehicles for highway automation. Two types of dynamic models are developed in the study of lateral control of tractor-semitrailer vehicles in an Automated Highway System (AHS): a complex simulation model and two simplified control models. Two control algorithms for lateral guidance are designed. The first is a baseline steering control algorithm and the second is a coordinated steering and independent braking control algorithm.

Keywords: Express highways--California--Automation; Automobiles--California--Automatic control; Intelligent Vehicle Highway Systems--California; automated highways (search for similar items in EconPapers)
Date: 1997-01-01
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