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.


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    Title :

    Lane-keeping benefits of practical rear axle steer


    Contributors:

    Published in:

    Vehicle System Dynamics ; 52 , 4 ; 504-521


    Publication date :

    2014


    Size :

    18 Seiten, 6 Bilder, 32 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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