Artificial Flow Guidance Method for Combined Off-Tracking and Stability Improvement for Automated Articulated Vehicles

<p>  </p> <p>This paper considers an integrated control method combining autonomous driving and active steering. By using Artificial Flow Guidance (AFG), the steering at all five axles on a tractor-semitrailer are synchronised for precise low-speed path tracking and improved lateral stability. AFG is a motion planning method which uses velocity vectors to guide the motion of the vehicle; here, two modifications on AFG are proposed to form the integrated-AFG which improves the transient performance and generalises the choice of the tracking points. Simulations rendered in TruckMaker show sub-millimetre level steady-state off-tracking for a broad speed range, with maximum deviation being 1 cm for a high-speed lane change; amplification of trailer lateral motion is also suppressed, with rearward amplification (RWA) < 1 maintained throughout. This control method is robust to changes in key parameters such as trailer mass and road friction coefficient. The methods presented provide a new foundation for implementing automated freight transportation on highways.</p>