Citation

Williams DE. Veh. Syst. Dyn. 2014; 52(4): 504-521.

Copyright

(Copyright © 2014, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2013.854397

PMID

unavailable

Abstract

The classic two-degree-of-freedom yaw-plane or bicycle' vehicle model is augmented with two additional states to describe lane-keeping behaviour and further augmented with an additional control input to steer the rear axle. A simple driver model is hypothesised where the driver closes a loop on a projected lateral lane position. The driver can select the preview distance to compensate driver/vehicle dynamics, consistent with the cross-over' model found in the literature. A rear axle steer control law is found to be a function of the front axle steering input and vehicle speed that exhibits stability similar to a positive-real system, while at the same time improving the ability of the driver/vehicle system to track a complex curved lane and improving steady-state manoeuvrability. The theoretically derived control law bears similarity to practical embodiments allowing a deeper understanding of the functional value of steering a rear axle.

Language: en