Abstract
In this paper, the lane keeping control scheme of combination vechicles using tractor front wheel steering, tractor rear wheel steering and trailer wheel steering is proposed. In order that both of tractor and trailer can track the target lane, ideal combination angle between tractor and trailer is necessary. At first, a method to estimate ideal combination angle between tractor and trailer is shown. Next, the adaptive steering controller is developed so that tractor and trailer can track the target lane. The developed controller has the good features that 1) lane keeping performance can be easily improved by setting only one design parameter and 2) unnecessary high frequency vibration is hard to occur in control input.
