The classic two-degree-of-freedom yaw-plane or ‘bicycle’ vehicle model is augmented with two additional states to describe lane-keeping behaviour and further augmented with an additional control input to steer the rear axle. A simple driver model is hypothesised where the driver closes a loop on a projected lateral lane position. The driver can select the preview distance to compensate driver/vehicle dynamics, consistent with the ‘cross-over’ model found in the literature. A rear axle steer control law is found to be a function of the front axle steering input and vehicle speed that exhibits stability similar to a positive-real system, while at the same time improving the ability of the driver/vehicle system to track a complex curved lane and improving steady-state manoeuvrability. The theoretically derived control law bears similarity to practical embodiments allowing a deeper understanding of the functional value of steering a rear axle.
Lane-keeping benefits of practical rear axle steer
Vehicle System Dynamics ; 52 , 4 ; 504-521
2014
18 Seiten, 6 Bilder, 32 Quellen
Aufsatz (Zeitschrift)
Englisch
Lane-keeping benefits of practical rear axle steer
Taylor & Francis Verlag | 2014
|Lane-keeping benefits of practical rear axle steer
Online Contents | 2014
|Lane-keeping benefits of practical rear axle steer
Kraftfahrwesen | 2014
|Improved Lane-keeping with Rear Axle Steer
SAE Technical Papers | 2015
|Improved Lane-Keeping with Rear Axle Steer
British Library Conference Proceedings | 2015
|