Abstract
Japan’s New Energy and Industrial Technology Development Organization (NEDO) initiated the “Energy ITS” project in 2008, to evaluate methods of reducing CO2 emissions using Intelligent Transportation System (ITS) applications. The goal of the “Steering Control and Automatic Tuning to Compensate for Road Cant” project is to develop techniques for autonomous platooning of heavy-duty trucks to reduce their air resistance in expressway driving, thereby reducing fuel consumption and CO2 emissions. This study describes a steering control method based on path following, which uses feedforward control to respond to road cant. The output of the feedforward controller is used to maintain lateral control of the vehicle, turning the steering wheel to keep the vehicle within specified offsets of the ideal path. Experimental results that demonstrate the effectiveness of this approach are provided.
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