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doi:10.3850/978-981-08-7723-1_P098
A Caution Cognition for Driving Control in Steer-by-wire based Tractor-trailer Vehicle System
Yuki Katayamaa and Toshiyuki Murakamib
Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku, Yokohama, 223-8522, Japan.
akatayama@sum.sd.keio.ac.jp
bmura@sd.keio.ac.jp
ABSTRACT
The tractor-trailer is used as very efficient system in many situations. However traffic accidents depend on the man-caused mistakes are increasing. This is why the operation support system that everyone can safely drive is needed. Now the tractor-trailer is set as specific targets for achievement in this research. It aims to achieve by using Steer-by-wire(SBW), the paper proposes the indirect type driving control system by which human and vehicle can take communications. First of all, the correct operation that vehicle driver should do is clarified with simulation in the direct feedback control system composed only of the vehicle and the control system. Next, the paper shows a strategy to stabilize the tractor trailer by applying the proposed indirect feedback control system with simulation and driving simulator.
Keywords: Tractor-trailer, Steer-by-wire system(SBW), Yaw rate, Reaction torque observer(RTOB), Caution cognition.
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