Dynamic Envelope Optimization of Articulated Vehicles Based on Multi-Axle Steering Control Strategies

被引：0
作者：
Sun, Zhaocong [1 ,2 ]
Yang, Shizhi [3 ]
Meng, Joshua H. [4 ]
Zhang, Chi [3 ]
Cui, Zhousen [3 ]
Wang, Heqian [1 ,2 ]
Wang, Wenjun [1 ,2 ]
机构：
[1] Tsinghua Univ, Sch Vehicle & Mobil, Beijing 100084, Peoples R China
[2] Tsinghua Univ, State Key Lab Intelligent Green Vehicle & Mobil, Beijing 100084, Peoples R China
[3] CRRC NanJing Puzhen Co Ltd, Nanjing 210031, Peoples R China
[4] Univ Calif Berkeley, Calif Partners Adv Transportat Technol PATH, Berkeley, CA 94720 USA
来源：
ACTUATORS | 2025年 / 14卷 / 02期
关键词：
dynamic envelope; articulated vehicles; Bezier curve; multi-axle steering control; DESIGN;
D O I：
10.3390/act14020045
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Steer-by-wire technology, critical for autonomous driving, enables full-wheel steering in articulated vehicles, significantly enhancing maneuverability in complex driving environments. This study investigates dynamic envelope optimization for articulated multi-body vehicles by integrating coordinated multi-axle steering control strategies with higher-order Bezier curve designs. Unlike traditional approaches that primarily focus on single-axle steering, this research emphasizes the advantages of multi-axle steering control, which significantly reduces the dynamic envelope and enhances maneuverability. To address the challenges posed by constrained road environments, a comparative analysis of Septimic Bezier curves under various control point configurations was conducted, demonstrating their effectiveness in achieving smoother curvature transitions and steering comfort. The results highlight the pivotal role of reducing curvature peaks and increasing curvature continuity in optimizing vehicle performance. Furthermore, advanced steering control strategies, such as Articulation Angle Reference (AAR) and Dual Ackermann Steering (DAS), were shown to outperform conventional methods by ensuring precise trajectory control and improved stability. This study provides actionable insights for enhancing vehicle handling and safety in complex driving scenarios, offering a framework for future road design and multi-axle steering system development.
引用
收藏
页数：19
相关论文
共 27 条
  • [1] Nemeth B., Fenyes D., Gaspar P., Mihaly A., Analysis and robust control design of a steering system for autonomous vehicles, Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp. 535-540
  • [2] Zhang D., Li J., Guo N., Liu Y., Shen S., Wei F., Chen Z., Zheng J., Adaptive deep reinforcement learning energy management for hybrid electric vehicles considering driving condition recognition, Energy, 262, (2023)
  • [3] Tanaka K., Kosaki T., Design of a table fuzzy controller for an articulated vehicle, IEEE Trans. Syst. Man Cybern, 27, pp. 552-558, (1997)
  • [4] Cox R.L., A review of the effect of increases in vehicle size on Australian geometric road design standards, Aust. Road Res, 28, pp. 45-56, (1998)
  • [5] Haldane M.J., Bunker J.M., Assessing the Impacts of Multi-Combination Vehicles on Traffic Operations and Safety, (2002)
  • [6] Harwood D.W., Hummer J.E., Knapp K., Operational and Safety Effects of Highway Geometrics at the Turn of the Millennium and Beyond, (2000)
  • [7] Kano H., Fujioka H., B-spline trajectory planning with curvature constraint, Proceedings of the American Control Conference (ACC), pp. 1963-1968
  • [8] Sun C., Zhang X., Xi L., Tian Y., Design of a path-tracking steering controller for autonomous vehicles, Energies, 11, (2018)
  • [9] Jujnovich B.A., Cebon D., Path-following steering control for articulated vehicles, J. Dyn. Syst. Meas. Control, 135, (2013)
  • [10] Samper M., Tamura T., Kobayashi N., Arbitrary path tracing control of articulated vehicles using nonlinear control theory, IEEE Trans. Control Syst. Technol, 3, pp. 125-131, (1995)
123