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<p>Articulated heavy vehicles (AHVs) have emerged as the backbone of highway transportation. However, AHVs complex multi-body configuration and large size lead to their poor lateral stability and high risk of traffic accident. Moreover, the human driving errors aggravate the traffic accidents risk. To improve the safety of AHVs, the autonomous driving technologies of AHVs provides an innovative solution. An hierarchical integration control system of the trajectory tracking and active trailer steering (ATS) is devised for an autonomous AHV. A linear three degrees of freedom (3-DOF) model is generated to develop the controller. The tire cornering stiffness is estimated based on the forgetting factor recursive least squares (FFRLS) method. At the top-level of the control system, an ATS controller is developed to calculate the steering angle of the trailer wheel through linear quadratic regulator (LQR) algorithm. To realize the desired trajectory tracking, the tractor front wheel steering angle is computed using linear time-varying model predictive control (LTV-MPC) technique at the bottom layer of the control system. The integrated controller performance is evaluated under the double lane change (DLC) manoeuvre. In comparison with the non-controlled case, the integrated control reduces the maximum tractor and trailer trajectory lateral errors by 55.34% and 58.66%, respectively. Compared with the uncontrolled tractor, the maximum sideslip angles of CG for the tractor with the integrated controller is reduced by 29.56%, while the integrated controller decreases the absolute value of the maximum sideslip angles of CG for the trailer by 96.11%. For the tractor with integrated controller, the absolute value of the maximum yaw rate is decreased by 18.35%. Simultaneously, the reductions of the absolute value of the maximum yaw rates for the trailer controlled by LTV-MPC + ATS is 74.33%. Moreover, compared to the case without the FFRLS estimation, the case with the FFRLS estimation reduces the maximum tractor and trailer trajectory lateral error by 10.32% and 11.76%. For the design with the FFRLS estimation, the maximum sideslip angles of CG of the tractor is diminished by 3.48%, whereas the absolute values of the maximum sideslip angles of CG for the trailer is reduced by 70.34%. Compared with the case without the FFRLS estimation, the design with the FFRLS estimation reduces the absolute values of the maximum tractor and trailer yaw rates by 2.55% and 43.31%, respectively. The above simulation results demonstrate the integrated controller’s effectiveness and good performance in improving trajectory tracking accuracy and lateral stability for autonomous AHVs.</p>

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Integration of Trajectory Tracking and Active Trailer Steering Control for Autonomous Articulated Heavy Vehicles Based on the Tyre Cornering Stiffness Estimation

  • 期刊论文

  • 发表日期：

    2026年3月5日

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  • Wei Gao,
  • Zhaowen Deng,
  • Tianhao He,
  • Hao Liu

摘要

Articulated heavy vehicles (AHVs) have emerged as the backbone of highway transportation. However, AHVs complex multi-body configuration and large size lead to their poor lateral stability and high risk of traffic accident. Moreover, the human driving errors aggravate the traffic accidents risk. To improve the safety of AHVs, the autonomous driving technologies of AHVs provides an innovative solution. An hierarchical integration control system of the trajectory tracking and active trailer steering (ATS) is devised for an autonomous AHV. A linear three degrees of freedom (3-DOF) model is generated to develop the controller. The tire cornering stiffness is estimated based on the forgetting factor recursive least squares (FFRLS) method. At the top-level of the control system, an ATS controller is developed to calculate the steering angle of the trailer wheel through linear quadratic regulator (LQR) algorithm. To realize the desired trajectory tracking, the tractor front wheel steering angle is computed using linear time-varying model predictive control (LTV-MPC) technique at the bottom layer of the control system. The integrated controller performance is evaluated under the double lane change (DLC) manoeuvre. In comparison with the non-controlled case, the integrated control reduces the maximum tractor and trailer trajectory lateral errors by 55.34% and 58.66%, respectively. Compared with the uncontrolled tractor, the maximum sideslip angles of CG for the tractor with the integrated controller is reduced by 29.56%, while the integrated controller decreases the absolute value of the maximum sideslip angles of CG for the trailer by 96.11%. For the tractor with integrated controller, the absolute value of the maximum yaw rate is decreased by 18.35%. Simultaneously, the reductions of the absolute value of the maximum yaw rates for the trailer controlled by LTV-MPC + ATS is 74.33%. Moreover, compared to the case without the FFRLS estimation, the case with the FFRLS estimation reduces the maximum tractor and trailer trajectory lateral error by 10.32% and 11.76%. For the design with the FFRLS estimation, the maximum sideslip angles of CG of the tractor is diminished by 3.48%, whereas the absolute values of the maximum sideslip angles of CG for the trailer is reduced by 70.34%. Compared with the case without the FFRLS estimation, the design with the FFRLS estimation reduces the absolute values of the maximum tractor and trailer yaw rates by 2.55% and 43.31%, respectively. The above simulation results demonstrate the integrated controller’s effectiveness and good performance in improving trajectory tracking accuracy and lateral stability for autonomous AHVs.