連結車両の適応車線追従制御(機械力学,計測,自動制御)  [in Japanese] Adaptive Lane Keeping Control of Tractor-Semitrailer Combination Vehicles(Mechanical Systems)  [in Japanese]

In this paper, a new lane keeping control scheme for combination vehicles using trailer wheel steering, front and rear wheel steering of tractor is proposed. At first, an estimator for unknown curvatures of target lanes is proposed. Then, using the estimate of curvatures, a method to estimate ideal combination angle is propesed. Using the estimate of road curvature and ideal combination angle, exact lane keeping can be achieved in steady state. Next, a method to design ideal transient responses for relative lateral distance, relative yaw angle and relative combination angle is proposed. Then, an adaptive steering controller to achieve ideal responses is developed. The proposed controller doesn't require any accurate knowledge of vehicle parameters, and can achieve good lane keeping performance with setting only one design parameter.