A method for reducing off-tracking by a multi-trailer heavy duty vehicle during a maneuver, the method comprising obtaining a model of vehicle dynamics describing dynamics of the multi-trailer heavy duty vehicle, determining respective force trajectories for two or more axles of the vehicle as a solution to a non-linear optimal control problem, NOCP, where the NOCP is formulated with an objective to at least minimize trailer off-tracking, wherein the NOCP is formulated based on the model of vehicle dynamics, and controlling motion of the heavy duty vehicle during the maneuver based on the determined force trajectories.
METHODS FOR REDUCING HIGH-SPEED OFF-TRACKING IN MULTI-TRAILER HEAVY DUTY VEHICLES
2023-12-28
Patent
Elektronische Ressource
Englisch
METHODS FOR REDUCING HIGH-SPEED OFF-TRACKING IN MULTI-TRAILER HEAVY DUTY VEHICLES
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