Automation Guidance of Articulated Heavy Vehicle in Actual Traffic Situation by Sliding-Mode Controller

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SHOJAEI S.; RAHMANI HANZAKI A.; AZADI S.; SAEEDI M.A.

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Journal Paper

Paper Information

Journal: Journal of Aerospace Mechanics Year:2020 | Volume:16 | Issue:2 (60) Page(s): 1-14

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Title

Automation Guidance of Articulated Heavy Vehicle in Actual Traffic Situation by Sliding-Mode Controller

Author(s)

SHOJAEI S. | RAHMANI HANZAKI A. | AZADI S. | SAEEDI M.A. | Issue Writer Certificate

Keywords

Lane Change ManeuverQ1

Articulated Vehicle (AV)Q1

Trajectory PlanningQ2

Dynamic ModeQ1

Abstract

The main purpose of this study is to present an algorithm of lateral guidance for articulated vehicles (AVs). The possible trajectories are determined based on the kinematics of the AV in terms of collision-free with the other vehicle. The dynamic of the AV and the tire must be considered in order to define the desired trajectory. Therefore, a sixteen-degrees-of-freedom non-linear Dynamic Model of the articulated vehicle is provided. The Dynamic Model is verified by TruckSim software based on a standard maneuver. Moreover, a three-degrees-of-freedom Dynamic Model of the articulated vehicle is applied in order to design the control system. The degrees-of-freedom of the AV are included yaw rate and lateral velocity of the tractor unit, and articulation angle. Tire dynamic is simulated based on the Dugoff non-linear model. Finally, the lateral guidance of the AV is implemented by sliding mode control method. The results show the effectiveness of the non-linear sliding mode control method for the lateral guidance of the AV.

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APA: Copy

SHOJAEI, S., RAHMANI HANZAKI, A., AZADI, S., & SAEEDI, M.A.. (2020). Automation Guidance of Articulated Heavy Vehicle in Actual Traffic Situation by Sliding-Mode Controller. AEROSPACE MECHANICS JOURNAL, 16(2 (60) ), 1-14. SID. https://sid.ir/paper/371435/en

Vancouver: Copy

SHOJAEI S., RAHMANI HANZAKI A., AZADI S., SAEEDI M.A.. Automation Guidance of Articulated Heavy Vehicle in Actual Traffic Situation by Sliding-Mode Controller. AEROSPACE MECHANICS JOURNAL[Internet]. 2020;16(2 (60) ):1-14. Available from: https://sid.ir/paper/371435/en

IEEE: Copy

S. SHOJAEI, A. RAHMANI HANZAKI, S. AZADI, and M.A. SAEEDI, “Automation Guidance of Articulated Heavy Vehicle in Actual Traffic Situation by Sliding-Mode Controller,” AEROSPACE MECHANICS JOURNAL, vol. 16, no. 2 (60) , pp. 1–14, 2020, [Online]. Available: https://sid.ir/paper/371435/en

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