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Open Access Publications from the University of California

Modeling And Control Of Articulated Vehicles

  • Author(s): Chen, Chieh
  • Tomizuka, Masayoshi
  • et al.

This report focuses on dynamic modeling and lateral control of commercial heavy-duty vehicles for highway automation. Two types of dynamic models are developed in the study of lateral control of tractor-semitrailer vehicles in an Automated Highway System (AHS): a complex simulation model and two simplified control models. Two control algorithms for lateral guidance are designed. The first is a baseline steering control algorithm and the second is a coordinated steering and independent braking control algorithm.

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