Path-tracking errors for active trailer steering off-highway: a simulation study Online publication date: Sun, 11-Aug-2019
by Qiheng Miao; David Cebon
International Journal of Heavy Vehicle Systems (IJHVS), Vol. 26, No. 3/4, 2019
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.
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