Development and Validation of an Automatic Steering Control System for Rubber-Tire Transit Revenue Service

Manually driving a 32 meters long rubber-tire transit with highly intensive concentration could easily get driver fatigue. Alongside the vision navigation method, this paper describes an automatic path tracking control method. Firstly, introduce the automatic steering control principle which is based on image recognition with optical guidance. Then, specifically describes the path tracking controller design. Finally, the control effect is verified by both joint simulation of Trucksim-MATLAB/Simulink and the real vehicle tests. The results show that the precise docking clearance between the platform and the transit is kept at 10-20cm. When driving at high speed, the stable speed is up to 72km/h, and the lateral deviation is controlled within 0.15m.