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Active steering control-based trucks lane-keeping system
2021
International Journal of Cybernetics and Cyber-Physical Systems
This paper proposes a lane-keeping system for trucks with trailer. The chosen active steering vehicle model allows to control both steering angles of the vehicle's articulations to pursue a desired trajectory. Thus, a guidance module is first implemented to define a bounded path parameter to follow. This module takes advantage of the Barrier Lyapunov function to impose constraints on the truck's longitudinal and lateral position and the trailer's orientation w.r.t the truck namely the
doi:10.1504/ijccps.2021.113101
fatcat:v7uqp4conjajjg6xfkugljbvlu