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Journal of Advanced Transportation
Volume 2017, Article ID 3506053, 19 pages
Research Article

Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

1College of Automobile and Transportation, Tianjin University of Technology and Education, Tianjin 300222, China
2Guangdong Key Laboratory of Intelligent Transportation System and Research Center of Intelligent Transportation System, School of Engineering, Sun Yat-sen University, Guangzhou 510275, China
3Key Laboratory of Operation Safety Technology on Transport Vehicles, Research Institute of Highway Ministry of Transport, Beijing 100088, China
4State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China
5College of Transportation, Jilin University, Changchun 130025, China

Correspondence should be addressed to Ronghui Zhang; moc.621@9181891hrz

Received 7 July 2017; Accepted 5 September 2017; Published 19 October 2017

Academic Editor: Cheng S. Chin

Copyright © 2017 Tao Peng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A new method is proposed for analyzing the nonlinear dynamics and stability in lane changes on highways for tractor-semitrailer under rainy weather. Unlike most of the literature associated with a simulated linear dynamic model for tractor-semitrailers steady steering on dry road, a verified 5DOF mechanical model with nonlinear tire based on vehicle test was used in the lane change simulation on low adhesion coefficient road. According to Jacobian matrix eigenvalues of the vehicle model, bifurcations of steady steering and sinusoidal steering on highways under rainy weather were investigated using a numerical method. Furthermore, based on feedback linearization theory, taking the tractor yaw rate and joint angle as control objects, a feedback linearization controller combined with AFS and DYC was established. The numerical simulation results reveal that Hopf bifurcations are identified in steady and sinusoidal steering conditions, which translate into an oscillatory behavior leading to instability. And simulations of urgent step and single-lane change in high velocity show that the designed controller has good effects on eliminating bifurcations and improving lateral stability of tractor-semitrailer, during lane changing on highway under rainy weather. It is a valuable reference for safety design of tractor-semitrailers to improve the traffic safety with driver-vehicle-road closed-loop system.