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Advanced automatic steering systems for multiple articulated road vehicles

: Wagner, Sebastian; Nitzsche, Gunter; Huber, Robert


American Society of Mechanical Engineers -ASME-:
ASME International Mechanical Engineering Congress and Exposition 2013. Proceedings. Vol.13: Transportation systems : Presented at ASME 2013 International Mechanical Engineering Congress and Exposition; November 15 - 21, 2013, San Diego, California, USA
New York/NY.: ASME, 2014
ISBN: 978-0-7918-5642-0
Paper V013T14A003, 11 S.
International Mechanical Engineering Congress and Exposition (IMECE) <2013, San Diego/Calif.>
Fraunhofer IVI ()
automatic steering system; road vehicles; Straßenfahrzeug

This article describes a novel automatic steering system for a 30.73m long double articulated bus equipped with three independent steer-by-wire axles. Two model-based control design approaches are proposed. The first approach uses a kinetic vehicle model to design a train-like guidance system and a force canceling that avoids excessive mechanical stress in the joints and the chassis.
While the first approach requires high computational efforts, the second approach utilizes a kinematic model to design an extended Ackermann-steering system that performs well on available electronic control units (ECU).
Multi-body-system (MBS) simulations show that both approaches offer high tracking performance and low mechanical stress in the chassis of the vehicle. Furthermore, road tests with the prototype AutoTram® Extra Grand confirm the simulation results.