Integrated Motion Control for Heavy Goods Vehicles Using Multiple Actuators

This paper investigates the integrated motion control of heavy goods vehicles using the Modified Hamiltonian Algorithm (MHA). It deals with providing stability control as well as path following for an articulated vehicle operating in the nonlinear region of the tyres via a multivariable nonlinear controller. The controller receives longitudinal and lateral acceleration targets and converts them into actuator command signals. The performance of MHA in real-world testing as an Electronic Stability Control (ESC) system, using control integration between tractor and semitrailer braking systems, is the focus of this paper. The overall aim is to maintain lateral stability and path following in response to driver steering commands. The Pure Pursuit algorithm is used in this paper to represent a surrogate for a real driver. The test vehicle is a 6 \(\times \) 4 tractor fitted with a load cage and uses electronically actuated front wheel steering and individual wheel braking, while the semitrailer supports automated braking as an axle group. Experimental tests were conducted during winter on low-friction surfaces, both with and without the attachment of the semitrailer. Results show the system is capable of providing yaw stability control to deal with such limited handling conditions.