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

Figure 3

Comparison of simulation and vehicle test.

(a) Input

(b) Output of tractor lateral acceleration

(c) Output of semitrailer lateral acceleration

(d) Output of tractor yaw rate

(e) Output of semitrailer yaw rate

(f) Output of joint angle

(g) Output of roll angles of test