Title: Path tracking and stability control of articulated vehicle based on multi-point preview

Authors: Xu Li; Hongzheng Song; Jianchun Wang

Addresses: College of Transportation, Shandong University of Science and Technology, Qingdao, 266590, China ' College of Transportation, Shandong University of Science and Technology, Qingdao, 266590, China ' College of Transportation, Shandong University of Science and Technology, Qingdao, 266590, China

Abstract: To address the issue of poor path tracking accuracy and vehicle stability of automated articulated vehicles under emergency track changing conditions, a multi-point preview path tracking, stability decision and optimal control strategy is proposed. Considering the dual effects of vehicle speed on preview deviation and the articulated relationship between tractor and semi-trailer on the trajectory, a three-point preview driver model based on the adaptive weight of vehicle speed is designed. The phase plane method and lateral load transfer ratio are used to determine the articulated vehicle's stability. A direct yaw moment by differential braking stability control strategy for articulated vehicle based on model predictive control (MPC) is designed to reduce the yaw rate, mass centre side slip angle and lateral load transfer ratio of the tractor as well as the semi-trailer during path tracking of an articulated vehicle to improve the vehicle running stability.

Keywords: articulated vehicle; three-point preview; MPC; model predictive control; path tracking; stability control.

DOI: 10.1504/IJHVS.2026.153674

International Journal of Heavy Vehicle Systems, 2026 Vol.33 No.2, pp.191 - 213

Received: 05 Jan 2025
Accepted: 25 Jan 2025
Published online: 21 May 2026 *

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