Cascaded Steering Control Paradigm for the Lateral Automation of Heavy Commercial Vehicles

The nonlinearity and complexity of the lateral dynamics of heavy commercial vehicles (HCVs) and their steering subsystems usually pose considerable challenges in realizing automatic lateral control for HCVs. In this article, a novel cascade control paradigm is presented for the automatic lateral guidance control of HCVs, which is equipped with an electrohydraulic coupling power steering (EHCPS) sy...