@article{ref1,
title="Lane-keeping benefits of practical rear axle steer",
journal="Vehicle system dynamics",
year="2014",
author="Williams, Daniel Eugene",
volume="52",
number="4",
pages="504-521",
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.<p /><p>Language: en</p>",
language="en",
issn="0042-3114",
doi="10.1080/00423114.2013.854397",
url="http://dx.doi.org/10.1080/00423114.2013.854397"
}