Three-point adaptive preview steady-state compensation driver model based on articulated heavy vehicle

This article proposes a three-point adaptive preview steady-state compensation driver model based on articulated heavy vehicles (AHVs). Although AHVs have extremely high road transportation efficiency, they have poor driving stability and high accident risk during high-speed transportation due to their large weight, high center of mass and multi-body characteristics. However, there are few studies on intelligent driving control of AHVs. In order to improve the active safety performance of AHVs, a three-point adaptive preview driver model is designed in this article. Based on the driver model, a sliding mode steady-state compensation controller is added. The three-point adaptive preview driver is different from other driver models. Its characteristic is that the preview distance can be automatically adjusted according to the vehicle speed and road curvature. A driver model with three-point preview weighted deviation, preview time, current vehicle speed and vehicle state as input and front wheel angle as output is established. Considering the trailer state, the front wheel angle is compensated and corrected by sliding mode steady-state compensation controller. The simulation results show that the model can reasonably judge the relationship between the target path and the vehicle position, adapt to the dynamic adjustment mechanism of the preview distance, and has good tracking accuracy. The front wheel compensation angle provided by the sliding mode controller under high speed and extreme conditions can ensure that the AHVs can track the target trajectory while maintaining driving stability.