Path-tracking errors for active trailer steering off-highway: a simulation study
by Qiheng Miao; David Cebon
International Journal of Heavy Vehicle Systems (IJHVS), Vol. 26, No. 3/4, 2019

Abstract: This paper discusses the tracking performance of a path-following steering system when operating off-highway. Simulation studies were conducted on three types of vehicle models: tractor-semitrailer, B-double and A-triple. The vehicles were simulated for a straight-line and a 450 roundabout with various road camber, grade and adhesions. Results indicated that the path-following steering system was unable to provide good tracking performance under those conditions due to longitudinal and lateral wheel slip interfering with its estimation of trailer location and orientation.

Online publication date: Sun, 11-Aug-2019

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