In this paper, a novel lane-keeping path planner and steering wheel angle controller are proposed for semi-trailer trucks. These vehicles exhibit different dynamic charac-teristics compared to conventional passenger vehicles due to the presence of an articulation angle and variations in the weight of the trailer. To account for these unique characteristics, a hitch angle estimator is utilized to generate an optimal lane-keeping path. Furthermore, an optimal steering controller based on Linear Quadratic Regulator (LQR) is designed utilizing the dynamics model of the vehicle, and the estimated mass of each unit from the mass estimator is used to improve the control performance. The performance and robustness of the proposed lane keeping system is validated in simulations with trailer weight variations.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Estimated State-Based Optimal Path Planning and Control System for Lane-Keeping of Semi-Trailer Trucks


    Beteiligte:
    Han, Sangwon (Autor:in) / Park, Geonyeong (Autor:in) / Ahn, Yoonyong (Autor:in) / Cho, Gunhee (Autor:in) / Kim, Soontae (Autor:in) / Huh, Kunsoo (Autor:in)


    Erscheinungsdatum :

    24.09.2023


    Format / Umfang :

    4634865 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Real-Time Optimization-Based Path Planning for Autonomous Semi-Trailer Trucks*

    Ma, Pengtao / Sun, Lei / Wei, Shouyang et al. | IEEE | 2024


    Trailer lane departure warning and lane keeping assistance

    ZARINHALAM RAJAN / TAKEMA AYUMU / AREAZAR CARLOS E et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Cant-Lane Keeping Analysis and Modeling for Autonomous Trucks

    Momiyama, F. / Suzuki, Y. / Sugimachi, T. et al. | British Library Online Contents | 2014