Citation

Momiyama F, Suzuki Y, Sugimachi T, Fukao T, Kageyama I. Trans. Soc. Automot. Eng. Jpn. 2014; 45(6): 1027-1034.

Copyright

(Copyright © 2014, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.45.1027

PMID

unavailable

Abstract

This paper concerns the modeling of autonomous trucks that run sensing the lateral deviation and relative attitude to the lane of express way. As actual roads consist of cants and curves, vehicles that run the roads are given the lateral forces caused by the cants and curvatures. "Relative Cant" involving the influence of the forces is defined and built in the models. The availability of 3DOF model to simulate an actual truck performs the cant-lane keeping run being given the necessary steering wheel angle calculated by the Algebraic model as a control model.

Language: ja

Keywords

dynamic model; Heavy Duty Truck; lane-keeping assistance system; Road Cant; vehicle dynamics