2023 年 89 巻 927 号 p. 23-00209
The present study discusses the effects of wheel steered trailer with stability control for multi-articulated vehicles on the lane-keeping performance. For the stability control, the vector follower control is applied to align the direction of the velocity vector at the articulation point with the trailer centerline by steering each trailer wheel. 16 simulations for the tractor and four-trailer combination model, combining with and without a wheel steering of each trailer, are performed. Trailer wheel steering suppresses the direction difference angle at the articulation point and reduces the lateral deviation of the trailer. The forward trailer wheel steering also suppresses the lateral deviation of the unsteered rearward trailer. Based on the relation between the amount of steering input required for stability control and the lateral deviation of each trailer, the lateral deviation is suppressed by steering, however, the steering input required for the stability control is also generated, so the control efficiency depends on the balance between the reduction of the lateral deviation and the required steering input.
