Lateral Control of Heavy-Duty Vehicles. Automated guidance of heavy vehicles has been one of the active research topics in Automated Highway System for the past six years. It is because that heavy vehicles have the potentials of becoming the main beneficiaries of automated guidance by the following reasons: first, on the average, a truck travel six times the miles as compared to a passenger vehicle. Possible reduction of drivers will reduce the operating cost substantially. Second, relative equipment cost for automating heavy vehicles is far less than that for passenger vehicles. Third, automation of heavy vehicles will have a significant impact on the overall safety of the automated guidance system. Trucking is a tedious job and automation will contribute substantially to reduce stress of the driver and therefore increase safety. Lots of uncertainty of the heavy vehicle system also make this research topic more interesting and challenging. For instance, varying vehicle longitudinal speed, tire cornering force and cargo loads dramatically change the system dynamics in different frequency ranges. In favor of the controller design and simple dynamic analysis, dynamic models for single-unit heavy vehicle (tractor-semitrailer combination vehicle) and multi-unit heavy vehicle are derived respectively. There are several lateral controllers which have been tested including classical loop-shaping controller, H-infinity loop shaping controller, sliding mode controller and LPV (linear parameter varying) controller. (Jeng-Yu Wang, August 1999)

• Robust H¥ Controller Design for Lateral Control of HDVs

Jeng-Yu Wang

Most Recent Publication
Jeng-Yu Wang and Masayoshi Tomizuka,
"Robust H¥ Lateral Control of Heavy-Duty Vehicles in Automated Highway System,"
1999 IEEE American Control Conference, San Diego, June 1999
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