Nonlinear Modeling of Truck-Semitrailer Lateral Dynamics Including Experimental Validation of Lateral Tire Forces

Advanced Driver Assistance Systems for commercial vehicles are mainly implemented in the truck and in most cases only consider measurements or estimates about the truck’s states. However, the trailer accounts for up to 80% of the total vehicle mass and therefore significantly influences the vehicle’s dynamics. For analysis of the trailer’s dynamic behavior and for potential implementation in model-based observer or control design, in this paper a nonlinear single track model of lateral dynamics of a typical truck-semitrailer combination is developed. The model thoroughly considers the lateral tire forces which, in contrast to most other publications, are validated on measurements from a real test vehicle. The results show an adequate simulation of the measured vehicle’s states. The implementation of the model on an automotive rapid prototyping ECU shows it’s online capability.