トリプルストレーラの安定化が車線維持性能に及ぼす影響

抄録

This study discusses the effects of stability control for tractor and three-trailer combinations on the lane-keeping performance. The stability control compensates the direction difference angles between the velocity vector at the front articulation point and the trailer 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 the direction difference angles at the front articulation points. The damping characteristics of the lateral displacements of the centers of gravity of the trailers are improved by reducing the direction difference angles. The stability control prevents amplification of the lateral displacement of rearward trailers, whereas the lane-keeping performance of the vehicle without the stability control deteriorates. The stability control suppresses the oscillation and the tracking deviation of the rearward trailer axle.