Lateral Control of a Convoy Vehicle System

SUMMARY The lateral dynamics and control of a convoy of two vehicles where the second vehicle is to follow the leading vehicle autonomously is investigated in this paper. Thevehicles are mechanically connected by a rigid tow bar in order to exclude the longitudinal dynamics and control. Two different vehicle models of the convoy are derived. Firstly, a simplesingle trackmodel for linearanalysisandcontroldesign. Secondly, a complex spatial model representing the real vehicles to a much higher extent for simulations as reference. For the lateral control of the convoy different concepts based on physically motivated ideas are studied where stability and path tracking performance are considered as criteria. Experimental research is carried out with two passenger cars connected by a specially designed tow bar. The second vehicle isequippedwith a steering actuator. Road tests are carried out. Due to safety considerations, these tests are restricted to very low speed at this stage of the project.