Abstract
This work shows how the rear active steering (RAS) system of the single unit heavy vehicle can be integrated into the chassis control by using control allocation technique. Two actuators configurations (all brakes and all brakes + RAS) are tested in the driver-modelin- the-loop simulation platform for the manoeuvre “roundabout” specific to the urban/suburban conditions of the delivery vehicle exploitation. In these simulations, the driver acts only on the steering wheel and tries to keep the vehicle on the desired trajectory. The established criteria relative to the effectiveness of the control and the easiness of driving allow the objective comparison of the two vehicle configurations.
Keywords: heavy vehicle, vehicle dynamics, active safety, global chassis control, control allocation