Active steering control based on preview theory for articulated heavy vehicles

• DOI: 10.1371/journal.pone.0252098
• Publication Date: 2021-05-25T17:30:52Z
• Authors: Jie Tian; Qingkang Zeng; Peng Wang; Xiaoqing Wang
• Keywords: Automobile Driving; 0203 mechanical engineering; Science; Q; R; Medicine; Computer Simulation; 02 engineering and technology; Research Article

This paper investigates the active steering control of tractor and trailer for articulated heavy vehicle (AHV) to improve its high-speed lateral stability low-speed path following. The four-degree-of-freedom (4-DOF) single track dynamic model AHV with a front-wheel steered is established. Considering that road information at driver’s focus most clear those away from blurred, new kind controller based on fractional calculus, i.e., preview designed provide input make it travel along desired path. In addition, controllers linear quadratic regulator (LQR) single-point respectively are also proposed trailer. However, latter basis articulation angle between trailer, inspired by idea controller. Finally, lane change maneuver 90 o turn carried out. And simulation results show compared controller, can have good high speed maneuvering low tracking ability adjusting order On this basis, three different AHVs same simulated whose adopts has better than LQR