Motion Control of a 6 \(\times \) 4 Heavy Vehicle: Autonomous Collision Avoidance Using Integrated Chassis Control

This paper considers the coordinated chassis control of a 6 \(\times \) 4 HGV tractor unit using a multivariable nonlinear controller for a transient handling manoeuvre under friction-limited conditions. The controller’s performance is evaluated through simulation. It receives Centre of Gravity (CG) longitudinal and lateral acceleration targets, corresponding to curvature and longitudinal acceleration requests, and aims for the CG to track the target accelerations. It employs the Modified Hamiltonian Algorithm (MHA) to generate steering and braking commands for the tractor. A combined-slip Magic Formula tyre model used within the algorithm allows for simultaneous stability control and path tracking, even in scenarios where the vehicle is operating at the limits of tyre adhesion. The manoeuvre is an autonomous obstacle avoidance on a packed snow. Results show the advantages and possible limitations of tracking acceleration targets for integrated chassis control.