Modelling of multi-unit heavy vehicle systems for automated guidance

摘要

Two kinds of model are derived for the general types of multi-unit heavy vehicle used in Automated Highway Systems applications: a complex model for computer simulations of longitudinal and lateral dynamics, and a simple model for controller designs. In the simulation model, a heavy vehicle is considered as a system of interconnected rigid-bodies interacting with the environment. Due to the holonomic constraints imposed by hitching mechanisms, the roll and pitch motions of the adjacent two units are coupled. The roll and pitch coupling is modelled from the geometric view point and the backward propagation of this coupling is investigated. The control model considers translational and yaw motions of each unit, and the resulting equations of motion are given in closed analytical forms. As an example of the proposed method, a control model of tractor-semitrailer type of heavy vehicles is derived by assuming a linear tyre model.