Improving stability and lane-keeping performance for multi-articulated vehicles using vector follower control

Abstract

ABSTRACT The present study discusses the effects of stability control for multi-articulated vehicles on the lane-keeping performance. Vector follower control (VFC) compensates the direction difference angles between the velocity vector at the front articulation point and the trailer using active steering of the trailer wheels. The control effects are evaluated by examining computer simulation with the driver-vehicle system, which consists of a multi-articulated vehicle model, a driver model, and VFC. VFC prevents amplification of the lateral displacements of rearward trailers, whereas the lane-keeping performance of a vehicle without VFC deteriorates. VFC does not, however, contribute to the performance of the tractor or the steering operation of the driver. A lane-keeping-assistance (LKA) system using direct yaw-moment control is applied to the tractor. The LKA system suppresses the lateral deviation of the tractor and the steering effort of the driver. In addition, the combination of VFC and the LKA system makes it possible to reduce the lateral deviations of all of the vehicles, as well as the steering effort of the driver.