Effects of Stability Control for Tractor and Three-Trailer Combinations on Lane-Keeping Performance

Abstract

This study discusses the effects of stability control for tractor and three-trailer combinations on the lane-keeping performance. The stability control is applied to a tractor and three-trailer combination using active steering of the trailer wheels. The control effects are evaluated by examining computer simulation with the driver-vehicle system which consists of a vehicle model, a driver model and the stability controller. The stability control suppresses amplification of the lateral displacement of rearward trailers, whereas the lane-keeping performance of the vehicle without the stability control deteriorates. The lane-keeping-assistance system improves the lateral deviation of the tractor and the driver’s effort.