The classic two-degree-of-freedom yaw-plane or “bicycle” vehicle model is augmented with two additional states to describe lane-keeping behavior, and further augmented with an additional control input to steer the rear axle. A simple driver model is hypothesized where the driver closes a loop on a projected lateral lane position. A rear axle steer control law is found to be a function of front axle steering input and vehicle speed that exhibits high speed stability and improved low speed maneuverability. The theoretically derived control law bears similarity to practical embodiments allowing a deeper understanding of the functional value of steering a rear axle.
Improved Lane-keeping with Rear Axle Steer
Sae Int. J. Commer. Veh
SAE 2015 World Congress & Exhibition ; 2015
Sae International Journal of Commercial Vehicles ; 8 , 1 ; 137-146
2015-04-14
10 pages
Conference paper
English
Improved Lane-Keeping with Rear Axle Steer
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