Abstract
This paper presents a linear dynamics model of tractor/full trailer with six degrees of freedom, and a series of simulations are performed on obstacle avoidance manoeuvers in which the combination vehicle moves at a constant forward speed. It is found that the ratio of the peak lateral acceleration of the full trailer's center of gravity (CG) to that of the tractor is 2.3, meanwhile, the articulated angle of the trailer is larger than that of the dolly. This phenomena, defined as the ‘rearward amplification ratio’(RWA), leads vehicle to rollover easily. A larger wheelbase of trailer would be useful to improve the lateral stability of the combination vehicle but it is limited by width of the road. Acting a resistive torque on the turntable can be absolutely effective in improving the dynamics stability of the tractor/full trailer combination vehicle but if acted at hitch point it has little improvement.
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