This paper provides valuable guidelines on the selection of dynamic vehicle models for control algorithm development, design optimization and linear stability analysis for multi-trailer articulated heavy vehicles with active safety systems. The validation of yaw-plane and yaw-roll models of a tractor-two-semitrailer combination using the TruckSim software package is presented in this paper. A linear four-degree-of-freedom yaw-plane model and a linear seven-degree-of-freedom yaw-roll model of the vehicle were generated, compared and evaluated. The linear models of the multi-trailer articulated heavy vehicle yield numerical simulation results which are validated by comparing with those obtained from the corresponding non-linear TruckSim model. This paper also includes eigenvalue and frequency-response analysis of the linear models to estimate the unstable motion modes and to predict the unique dynamic features of the multi-trailer articulated heavy vehicle in the frequency domain. A benchmark investigation of the models was performed to examine the fidelity, the complexity and the applicability of the linear models.

A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems, Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 50:5, 675-697, This paper presents a closed-loop dynamic simulation-based design method for articulated heavy vehicles (AHVs) with active trailer steering (ATS) systems. AHVs have poor manoeuvrability at low speeds and exhibit low lateral stability at high speeds. From the design point of view, there exists a trade-off relationship between AHVs' manoeuvrability and stability. For example, fewer articulation points and longer wheelbases will improve high-speed lateral stability, but they will degrade low-speed manoeuvrability. To tackle this conflicting design problem, a systematic method is proposed for the design of AHVs with ATS systems. In order to evaluate vehicle performance measures under a welldefined testing manoeuvre, a driver model is introduced and it 'drivers' the vehicle model to follow a prescribed route at a given speed. Considering the interactions between the mechanical trailer and the ATS system, the proposed design method simultaneously optimises the active design variables of the controllers and passive design variables of the trailer in a single design loop (SDL). Through the design optimisation of an ATS system for an AHV with a truck and a drawbar trailer combination, this SDL method is compared against a published two design loop method. The benchmark investigation shows that the former can determine better trade-off design solutions than those derived by the latter. This SDL method provides an effective approach to automatically implement the design synthesis of AHVs with ATS systems.

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