Narrow passage assistant system for rear wheel steering semi-trailer truck

Yang, Junggun; Yun, Sunghwan; Huh, Kunsoo

doi:10.1109/ICITE.2017.8056872

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Narrow passage assistant system for rear wheel steering semi-trailer truck

Yang, Junggun;
Yun, Sunghwan;
Huh, Kunsoo

Citations

SCOPUS

10

초록

Semi-trailer trucks generate the articulation angle during turning situation due to structural characteristics. This angle can cause the trailer to deviate from the road boundary and, thus, lead to collision with structures and/or vehicles on the roadway. In this study, a narrow passage assistant system is proposed using rear steering so that the semi-trailer truck is controlled inside the lane boundary even in tight turning circumstances. Based on the measured lane information using camera sensors, the model predictive control is applied for predicting the future state and tracking the reference path. The distribution rule for steering angles of the multi-axle trailer is described such that each wheel of the trailer has the same turning center and their tire slip angles are consistent. The proposed system is verified using commercial software and its performance demonstrates the effectiveness of rear steering in semi-trailer truck.

키워드

articulation angle; lane keeping; model predictive control; rear steering; semi-trailer truck; Automobile steering equipment; Commercial vehicles; Model predictive control; Steering; Truck trailers; Trucks; Wheels; Commercial software; Distribution rule; Lane keeping; Rear wheel steering; Reference path; Steering angles; Structural characteristics; Turning center; Truck transportation

제목: Narrow passage assistant system for rear wheel steering semi-trailer truck

저자: Yang, Junggun; Yun, Sunghwan; Huh, Kunsoo

DOI: 10.1109/ICITE.2017.8056872

발행일: 2017-10

유형: Conference Paper

저널명: 2017 2nd IEEE International Conference on Intelligent Transportation Engineering (ICITE)

페이지: 9 ~ 13