A preview SMC driver modeling and simulation for the B-train doubles

Abstract

B-train doubles have existed a greater risk of causing accidents. The research on the driver model for combination vehicles is crucial to the active safety control of B-train doubles. The direction control of the driver model forms an invaluable part of the closed-loop simulation of the human-vehicle-road system. Meanwhile, studies of driver models for long combination vehicles (LCVs) are limited. Driver modeling for the articulated heavy vehicle (AHV), a preview driver model for B-train doubles, has been proposed, on the basis of Sliding Mode Control (SMC), considering the low-speed path-tracking and high-speed stability, with the constant speed approach rate and optimal approach rate of the SMC, respectively. The simulation proved that, the proposed driver model can significantly eliminate the chattering phenomena of the front wheel angle, enhance the lateral stability of the B-train doubles, and decrease in peak magnitude of lateral acceleration and yaw angular velocity, and achieve better path following ability.