RESEARCHING OF A POSSIBILITY TO IMPLEMENT CONTROLLED ROAD TRAIN MOVEMENT ALONG A PROGRAM CURVE
Journal Title: Вчені записки Таврійського національного університету імені В. І. Вернадського. Серія: Технічні науки - Year 2018, Vol 29, Issue 6
Abstract
A possibility of implementing controlled movement of a bolster-type road train (tractor truck with a trailer) along a program trajectory specified in an explicit, implicit, parametric form or with the law of changing its curvature is considered. The angle of rotation of the controlled wheel module is a function program trajectory curvature and current phase variables of the articulated vehicle model. The possibility of movement of a road train in a given corridor is investigated and the minimum allowable width of such a corridor is calculated. The process of trajectory designing in the form of a piecewise continuous function has also been implemented. Particular importance in the study is given to the implementation of controlling according to typical practical maneuvers of a road train driver: changing lane (overtaking) specified in the form of two arctangensoids, a 90 degress turn, the movement along a clothoid arc. For the 90 degrees turn the dependence of controlling and folding angle on the road train the movement speed has been investigated. An important feature of the study is the development of software allowing to perform visualization of movement maneuvers in the Unity 3D system.
Authors and Affiliations
В. Г. Вербицкий, Н. П. Полякова, Д. Н. Татиевский
Keywords
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