This paper presents a kinematic model and a control law design for lateral control of heavy-duty vehicles in a convoy. In a platoon configuration, vehicles are electronically linked by radio transmissions and several vision and radar sensors. Each vehicle is equipped with lateral and logitudinal controllers, supervised by the driver and some computer aided system. Lateral surveying of heavy duty vehicle is one of the sub-problems to be solved in the context of platooning. However, it has been revealed to be a crucial one because of safety reasons. Concerning lateral control two main strategies have been confronted: the road-frame based control and the relative-frame based control. Two kinematics models that can be used as a basis to design controllers are dervied in the paper, then two different control alternatives are presented that lead to first and second order spatial linearization, respectively. These results have been evaluated on a highly accurate benchmark specially build for studying platoooning features. This strategy is sufficient for controlling 4 vehicles in a platoon but further developments need to be performed concerning lateral string stability of a convoy in order to generalize these results to an arbitrarily number of vehicles.
Lateral control of heavy-duty vehicles in a convoy
Querregeleung von Lkws im Konvoi
2000
6 Seiten, 7 Bilder, 14 Quellen
Conference paper
English
Lateral control of heavy duty vehicles
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