Parameter Identification of Tractor-Semitrailer Model under Steering and Braking

Figure 8

Data acquisition equipment: (a) data acquisition unit; (b, c) AHRSs equipped on the tractor and semitrailer; (d) steering wheel sensor; (e) brake pedal sensor; (f) road friction coefficient sensor.

(a)

(b)

(c)

(d)

(e)

(f)