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High-speed lateral stability and trajectory tracking performance for a tractor-semitrailer with active trailer steering

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  • Yu Hou
  • Xiaomei Xu

Abstract

An active trailer steering (ATS) controller is investigated to improve the lateral stability and trajectory tracking performance of the tractor-semitrailer. First of all, a linear yaw-roll dynamic model of the tractor-semitrailer with steerable trailer wheels is established, and the model accuracy is verified. Then a linear quadratic regulator (LQR) for actively steering the trailer’s wheels is designed. For the LQR controller, the lateral acceleration and the sideslip angle at the center of gravity (CG) of the trailer are taken as the optimization objectives, and the steering angle of the wheel on the middle axle of the trailer is set as the control input. Finally, the effectiveness of the designed controller is tested based on the co-simulation platform under the single lane-change (SLC) maneuver at the speed of 100 km/h and the double lane-change (DLC) maneuver at the speed of 80 km/h and 88km/h. Research results show that under the high-speed SLC maneuver, the designed LQR controller can significantly improves the lateral stability and trajectory tracking performance of the trailer, and cannot affect apparently the trajectory and dynamic responses of the tractor. Under the high-speed DLC maneuver, the designed controller can still make the tractor-semitrailer reach a new steady state in a short time, and improve the vehicle lateral stability and the trajectory tracking performance of the trailer at the same time.

Suggested Citation

  • Yu Hou & Xiaomei Xu, 2022. "High-speed lateral stability and trajectory tracking performance for a tractor-semitrailer with active trailer steering," PLOS ONE, Public Library of Science, vol. 17(11), pages 1-17, November.
    • Handle: RePEc:plo:pone00:0277358
    DOI: 10.1371/journal.pone.0277358
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    Cited by:

    1. Shuyang Rui & Dongdong Jiang & Songsong Sun & Xiaolin Gong, 2023. "Research of the crankshaft high cycle bending fatigue experiment design method based on the modified unscented Kalman filtering algorithm and the SAFL approach," PLOS ONE, Public Library of Science, vol. 18(9), pages 1-17, September.

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