Abstract
In recent years, autonomous tractor semi-trailers have been considered a promising solution for transportation on highways, ports, and large logistics centers to improve safety and efficiency. However, due to the complicated dynamics introduced by articulation structure, there are still challenges in achieving high-precision path tracking and stability control for tractor semi-trailers, especially in critical scenarios. In this work, a bi-level path tracking control scheme for the autonomous tractor semi-trailer is proposed. At the higher level, a robust model predictive controller coordinating active front steering and differential braking is devised for addressing path tracking, stability control and robustness for an autonomous tractor semi-trailer. At the lower level, incorporating a logic switching mechanism, the designed optimal braking torque distribution module and the PID-based longitudinal control module prioritize the implementation of differential braking and target speed tracking. Simulation results demonstrate that the proposed control strategy offers remarkable path tracking performance in three designed testing scenarios.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
