Title: Path-tracking errors for active trailer steering off-highway: a simulation study

Authors: Qiheng Miao; David Cebon

Addresses: Department of Engineering, Cambridge University, Cambridge, CB2 1PZ, UK ' Department of Engineering, Cambridge University, Cambridge, CB2 1PZ, UK

Abstract: This paper discusses the tracking performance of a path-following steering system when operating off-highway. Simulation studies were conducted on three types of vehicle models: tractor-semitrailer, B-double and A-triple. The vehicles were simulated for a straight-line and a 450 roundabout with various road camber, grade and adhesions. Results indicated that the path-following steering system was unable to provide good tracking performance under those conditions due to longitudinal and lateral wheel slip interfering with its estimation of trailer location and orientation.

Keywords: simulation study; path-following control; active steering; off-highway.

DOI: 10.1504/IJHVS.2019.101474

International Journal of Heavy Vehicle Systems, 2019 Vol.26 No.3/4, pp.405 - 431

Received: 17 Mar 2017
Accepted: 17 Sep 2017
Published online: 11 Aug 2019 *

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