Experimental study of lateral control of heavy vehicles for automated highway systems (AHS)

In this paper, we present a comparative experimental study of lateral controllers of heavy vehicles for automated driving. Three controllers, a sliding mode controller, a linear feedback controller with a feedforward compensation and a linear feedback controller, are compared by analysis and by experiments. They axe closely related to one another by means of the constituting terms of the controllers. Experiments are conducted on a test vehicle, a tractor-semitrailer combination, on a 2000 m long test track. Some implementation issues as well as the advantages and disadvantages of each controller are discussed.