Path-tracking errors for active trailer steering off-highway: A simulation study
Accepted version
Peer-reviewed
Repository URI
Repository DOI
Change log
Authors
Miao, Q
Cebon, David https://orcid.org/0000-0003-2828-6445
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.
Description
Keywords
simulation study, path-following control, active steering, off-highway
Journal Title
International Journal of Heavy Vehicle Systems
Conference Name
Journal ISSN
1744-232X
1741-5152
1741-5152
Volume Title
26
Publisher
Inderscience Publishers
Publisher DOI
Sponsorship
Engineering and Physical Sciences Research Council (EP/K00915X/1)
Engineering and Physical Sciences Research Council (EP/R035199/1)
Engineering and Physical Sciences Research Council (EP/R035199/1)