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Multi-degree of Freedom Dynamic Vibration Absorber of the Carbody of High-Speed Trains Read chapter Read first chapter

2022 | OriginalPaper | Chapter

An Autonomous Driving Control Strategy for Multi-trailer Articulated Heavy Vehicles with Enhanced Active Trailer Safety

Authors : Amir Rahimi, Wei Huang, Tarun Sharma, Yuping He

Published in: Advances in Dynamics of Vehicles on Roads and Tracks II

Publisher: Springer International Publishing

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Abstract

This article presents an autonomous driving control strategy for multi-trailer articulated heavy vehicles (MTAHVs). To design this strategy, a 5 degrees of freedom (DOF) yaw-plane model is generated to represent a MTAHV with the configuration of A-train double, and a nonlinear model predictive control (NLMPC) based controller is designed for direction and speed control of the MTAHV. Due to multi-unit structures, large sizes, and high centers of gravity (CGs), MTAHVs exhibit poor low-speed maneuverability and low high-speed lateral stability. Especially, MTAHVs often experience amplified lateral motions of trailing vehicle units in transient curved path negotiations. To enhance the safety performance of the autonomous driving control strategy, the self-driving A-train double design is featured with active trailer and dolly steering. To evaluate the effectiveness of the innovative autonomous driving control strategy, co-simulations are conducted by combining the integrated controller designed in MATLAB/ SIMULINK and a nonlinear A-train double model generated in TruckSim.

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previous chapter On the Control Allocation Performance of Longer Combination Vehicles
next chapter Lateral Control of a Trackless Road Tram ‘ART’ Using Multi-axle Steering
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Metadata
Title
An Autonomous Driving Control Strategy for Multi-trailer Articulated Heavy Vehicles with Enhanced Active Trailer Safety
Authors
Amir Rahimi
Wei Huang
Tarun Sharma
Yuping He
Copyright Year
2022
Book
Advances in Dynamics of Vehicles on Roads and Tracks II

Print ISBN: 978-3-031-07304-5

Electronic ISBN: 978-3-031-07305-2

Copyright Year: 2022

DOI
https://doi.org/10.1007/978-3-031-07305-2_72

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