The main purpose of this study is to present an algorithm of lateral guidance for the articulated vehicles. The possible lanes are extracted based on the kinematics of AV in terms of non - collision with the other vehicle. In order to determine the desired trajectory, the dynamic of the AV and specifically its tire must be considered. First, a sixteen-degrees-of-freedom nonlinear dynamic model of an articulated vehicle is developed. Then, the vehicle model is validated using TruckSim software during a standard maneuver. Also, in order to design the control system a three-degrees-of-freedom dynamic model of an articulated vehicle is used. The degrees- of-freedom are yaw rate and lateral velocity of the tractor unit and articulation angle. Tire dynamic is simulated based on nonlinear model of Duggof. Finally, lateral guidance of the AV is applied by sliding mode control method. The results show the effectiveness of the nonlinear sliding mode control method for lateral guidance of the AV.
Sazgar, H., Azadi, Sh., and Kazemi, R. “Trajectory Planning and Integrated Control with the Nonlinear Bicycle Model for High-Speed Autonomous Lane Change”, Modares Mechanical Engineering. Vol. 18, No. 02, pp. 103-114, 2018. (In Persian)##
Safety Report NTSB SS–90/01., “Fatigue, Alcohol, Other Drugs, and Medical Factors in Fatal-to-the-Driver Heavy Truck Crashes”. Washington, DC, National Transportation Safety Board, 1990.##
Safety Report NTSB SS–95/01., “Factors That Affect Fatigue in Heavy Truck Accidents”. Washington, DC, National Transportation Safety Board, 1995.##
Safety report NTSB/SR–99/01Evaluation of U.S. Department of Transportation efforts in the 1990s to address operator fatigue. Washington, DC, National Transportation Safety Board; http://www.ntsb.gov/publictn/1999/SR9901.pdf, accessed 17 November 2003, 1999.##
Meng, F., Su, J., Liu, C., and Chen, W. H. “Dynamic Decision Making in Lane Change: Game Theory with Receding Horizon”; Proceedings of the 11th UKACC International Conference on Control. Belfast, Northern Ireland, UK, 2016.##
Naranjo, J. E., Gonzalez, C., Garcia, R., and De Pedro, T. “Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver”, IEEE Transactions on Intelligent Transportation Systems. Vol. 9, No. 3, pp. 438-450, 2008.##
Wang, J., Chai, R., and Wu, Q. “Changing Lane Probability Estimating Model Based on Neural Network”; Proceedings of the 26th Chinese Control and Decision Conference (2014 CCDC). Changsha, China, 2014.##
Talebpour, A., Mahmassani, H. S., and Hamdar, S. H. “Modeling Lane-Changing Behavior in a Connected Environment: a Game Theory Approach”, Transportation Research Procedia. Vol. 7, No. 5, pp. 420-440, 2015.##
Samiee, S., Azadi, S., Kazemi, R., and Eichberger, A. “Towards a Decision-Making Algorithm for Automatic Lane Change Manoeuvre Considering Traffic Dynamics”, PROMET-Traffic&Transportation. Vol. 28, No. 2, pp. 91-103, 2016.##
Sampei, M., and Kobayashi, T. “Path Tracking Control of Carcaravan Type Articulated Vehicles Using Non-Linear Control Theory”, Trans Soc Instrum Control Eng. Vol. 30, No. 4, pp.427–434, 1994.##
Nakamura, M., and Yuta, S. “Trajectory Control of Trailer Type Mobile Robots”. Proc IEEE/RSJ Int Conf Intell Robot Syst. Vol. 20, No. 3, pp. 2257– 2263, 1993.##
Li, W., Tsubouchi, T., and Yuta, S. “Manipulative Difficulty Index of a Mobile Robot with Multiple Trailers in Pushing and Towing with Imperfect Measurement”, Proce IEEE Int Conf Robot Autom. Vol. 6, No. 3, pp. 2264–2269, 2000.##
Divelbliss, W., and Wen, J. “ Trajectory Tracking Control of a Cartrailer System”. Proc IEEE Trans Control Syst Technol. Vol. 5, No. 3, pp. 269–278, 1997.##
Kim, D. H., and Oh, J. H. “Non-Linear Tracking Control of Trailer Systems Using Lyapunov Direct Method”, J Robot Syst. Vol. 16, No. 1, pp. 1–8, 1999.##
Kim, D. H., and Oh, J. H. “Experiments of Backward Tracking Control for Trailer System”. Proc IEEE Int Conf Robot Autom. Vol. 5, No. 1, pp.19–22, 1999.##
Altafini, C., and Speranzon, A. “Backward Line Tracking Control of a Radio-Controlled Truck and Trailer”. Proc IEEE Int Conf Robot Autom. Vol. 7, No. 1, pp. 169–174, 2001.##
Christian-Kelber, R., Fernando, S. and Osório, B. “Assistance Controller for Driving Backwards and Parking an Articulated Vehicle”; IEEE Intelligent Vehicles Symposium, MI, USA, 2008.##
Gonzalez-Cantos, A., and Ollero, A. “Backing-Up Maneuvers of Autonomous Trailer-Trailer Vehicles Using the Qualitative Theory of Non-Linear Dynamical Systems”, Int J Robot Res. Vol. 28, No. 1, pp. 49–65, 2009.##
Delrobaei, M., and Kenneth, A. “Parking Control of a Center-Articulated Mobile Robot in Presence of Measurement Noise”; Conference on Robotics, Automation and Mechatronics IEEE. 2010.##
Nilsson, J., Brännström, M., Coelingh, E., and Fredriksson, J. “Longitudinal and Lateral Control for Automated Lane Change Maneuvers”; Proceedings of The 2014 IEEE Intelligent Vehicles Symposium. MI, USA, 2014.##
Nilsson, J., Brännström, M., Fredriksson, J., and Coelingh, E. “Longitudinal and Lateral Control for Automated Yielding Maneuvers”, IEEE Transactions on Intelligent Transportation Systems. Vol. 17, No. 5, pp. 1404-1414, 2016.##
Nilsson, J., Brännström, M., Coelingh, E., and Fredriksson, J. “Lane Change Maneuvers for Automated Vehicles”, IEEE Transactions on Intelligent Transportation Systems. Vol. 18, No. 5, pp. 1087-1096, 2016.##
Shojaei, S., Rahmani Hanzaki, A., Azadi, Sh., and Saeedi, M. A. “Design of Lane Change Decision-Making Algorithm Of Truck-Semitrailer in Real Dynamic Environment”, Modares Mechanical Engineering. Vol. 17, No. 9, pp. 351-360, 2017, (In Persian).##
Saeedi, M. A., Kazemi, R., and Azadi, S. “Improvement in The Rollover Stability of a Liquid-Carrying Articulated Vehicle Via A New Robust Controller”, Proc IMechE, Part D: Journal of Automobile Engineering. Vol. 227, No. 2, pp. 365-387, 2016.##
Saeedi, M. A., Kazemi, R., and Azadi, S. “A New Robust Controller to improve the Lateral Dynamic of an Articulated Vehicle Carrying Liquid”, Proc IMechE, Part K: Journal of Multibody Dynamics. Vol. 231, No. 3, pp. 295-315, 2016.##
Saeedi, M. A., Kazemi, R., and Azadi, S. “Transient Dynamic Analysis of an Articulated Vehicle Carrying Liquid Compared with the Rigid Cargo Vehicle”, Aerospace Mechanics Journal. Vol. 13, No. 2, pp. 49-64, 2016.##
Dugoff, H., Fancher, C., and Segel, L. “An Analysis of Tire Traction Properties and Their in fluence on Vehicle Dynamic Performance”, SAE technical paper 700377, 1970.##
Mechanical Simulation Corporation (MSC), TruckSim 8.0 Reference Manual, February 1999.##
Shojaei, S., Rahmani, A., Azadi, S., & SAEEDI, M. A. (2020). Automated guided of articulated heavy vehicle in traffic situation by sliding-mode controller. Aerospace Mechanics, 16(2), 1-14.
MLA
Saeed Shojaei; Ali Rahmani; Shahram Azadi; MOHAMMAD AMIN SAEEDI. "Automated guided of articulated heavy vehicle in traffic situation by sliding-mode controller", Aerospace Mechanics, 16, 2, 2020, 1-14.
HARVARD
Shojaei, S., Rahmani, A., Azadi, S., SAEEDI, M. A. (2020). 'Automated guided of articulated heavy vehicle in traffic situation by sliding-mode controller', Aerospace Mechanics, 16(2), pp. 1-14.
VANCOUVER
Shojaei, S., Rahmani, A., Azadi, S., SAEEDI, M. A. Automated guided of articulated heavy vehicle in traffic situation by sliding-mode controller. Aerospace Mechanics, 2020; 16(2): 1-14.
)
