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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/3506053/figures/3506053.fig.0010a.svgz" name="3506053.fig.0010a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Tractor yaw rate control</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/3506053/figures/3506053.fig.0010b.svgz" name="3506053.fig.0010b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Joint angle control</td></tr></table>

<div>Typical contract of vehicle dynamic variables in critical steady steering.</div>

Journal of Advanced Transportation

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Figure 10

Figure 10: Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather 