Ding, X. and He, Y., "Design and Evaluation of Active Trailer Steering Systems of Long Combination Vehicles Using Driver-Software-in-the-Loop Simulations," SAE Technical Paper 2012-01-0934, 2012, doi:10.4271/2012-01-0934.
Vehicle simulators are often used for vehicle system development and driver behaviour study. The target of this study is to design and evaluate an Active Trailer Steering (ATS) system for a Long Combination Vehicle (LCV) with mutiple trailers using a real-time vehicle simulator. A linear yaw-plane LCV model is generated to derive an optimal ATS controller. Then, the controller is reconstructed in LabVIEW and integrated with a vehicle model for a B-train double from TruckSim. The Driver-Software-in-the-Loop (DSIL) real-time simulations are conducted with the vehicle simulator. The DSIL real-time simulations indicate that the ATS controller can effectively improve the LCV's low-speed maneuverability and high-speed stability under the test maneuvers of a low-speed 90-degree turn and a high-speed single-lane change, respectively. The investigation based on the DSIL real-time simulations paves the road to the future development of electronic control units (ECUs) for the ATS system using Driver-Hardware-in-the-Loop real-time simulations.