Anti-jackknife reverse perpendicular parking control of tractor-trailer vehicle via MPC technique

Abstract

In this paper, a jackknife avoidance trajectory tracking control strategy for tractor-trailer vehicle is proposed based on constrained Model Predictive Control (MPC) in the process of reversing perpendicular parking. Firstly, a critical hitch angle is provided for jackknife avoidance and collision-free constraint, through analyzing the influencing factors of the size and stability of the vehicle hitch angle. Next, the conundrums of preventing collision and avoiding jackknife are converted into constraint problem. Therefore, the jackknife and collision problem of tractor-trailer could be solved by using MPC algorithm with the advantage of being able to handle multiple constraints issues. Finally, the simulation results illustrate that the presented control strategy plays an expected role during reversing process of this kind of complicated vehicle system.