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Advanced Automatic Steering Systems for Multiple Articulated Road Vehicles

[+] Author Affiliations
Sebastian Wagner, Gunter Nitzsche

Fraunhofer Institute for Transportation and Infrastructure Systems IVI, Dresden, Germany

Robert Huber

Leipzig University of Applied Sciences, Leipzig, Germany

Paper No. IMECE2013-62630, pp. V013T14A003; 11 pages
  • ASME 2013 International Mechanical Engineering Congress and Exposition
  • Volume 13: Transportation Systems
  • San Diego, California, USA, November 15–21, 2013
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5642-0
  • Copyright © 2013 by ASME


This article describes a novel automatic steering system for a 30.73m long double articulated bus equipped with three independent steer-by-wire axles. Two model-based control design approaches are proposed. The first approach uses a kinetic vehicle model to design a train-like guidance system and a force-canceling that avoids excessive mechanical stress in the joints and the chassis.

While the first approach requires high computational efforts, the second approach utilizes a kinematic model to design an extended Ackermann-steering system that performs well on available electronic control units (ECU).

Multi-body-system (MBS) simulations show that both approaches offer high tracking performance and low mechanical stress in the chassis of the vehicle. Furthermore, road tests with the prototype AutoTram® Extra Grand confirm the simulation results.

Copyright © 2013 by ASME



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