The Effects of Trailer Towing on the Dynamics of a Lane-Keeping Controller

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2020-10-05 DOI:10.1115/DSCC2020-3141

Illés Vörös, D. Takács

引用次数: 0

Abstract

The main question this paper aims to address is whether a lane-keeping controller can serve as a safety feature in order to increase handling and stability of car-trailer combinations. The derivation of a nonholonomic car-trailer model is provided and its open-loop stability is analyzed. A look-ahead based lane-keeping controller is applied to the system, and a comparison is made between the closed-loop stability of an individual car and a car-trailer setup. The critical speed of the vehicle combination is shown as a function of various trailer parameters, with and without the lane-keeping controller enabled. A modified version of the controller is also tested, utilizing feedback of the trailer states. This ensures that the trailer is also kept at the center of the lane, but no improvement was found in terms of stable trailer configurations.

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拖车拖曳对车道保持控制器动力学的影响

本文旨在解决的主要问题是车道保持控制器是否可以作为一种安全功能，以增加汽车-拖车组合的操控性和稳定性。给出了一种非完整汽车挂车模型的推导，并对其开环稳定性进行了分析。将基于前视的车道保持控制器应用到系统中，并将单个车辆的闭环稳定性与汽车挂车的闭环稳定性进行了比较。在启用和不启用车道保持控制器的情况下，车辆组合的临界速度显示为各种拖车参数的函数。控制器的修改版本也被测试，利用拖车状态的反馈。这确保了拖车也保持在车道的中心，但在稳定的拖车配置方面没有发现改善。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.