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Lateral Control Of Heavy Duty Vehicles For Automated Highway Systems

Author

Listed:
  • Tai, M.
  • Wang, J.-y.
  • Hingwe, P.
  • Chen, C.
  • Tomizuka, M.

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.

Suggested Citation

  • Tai, M. & Wang, J.-y. & Hingwe, P. & Chen, C. & Tomizuka, M., 1998. "Lateral Control Of Heavy Duty Vehicles For Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3sb3z2mh, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt3sb3z2mh
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