Advanced Steering Control Algorithm for Semi-Trailer Trucks Considering Trailer Dynamics and Lateral Motion Delay

Abstract

In this paper, a novel steering control algorithm for semi-trailer trucks is proposed, which effectively incorporates the vehicle's dynamic characteristics and compensates for lateral motion delays. To model the tractor and trailer, both kinematic and dynamic models are derived and utilized to design a state estimator and a lateral control system. To achieve accurate trailer motion estimation, a novel Velocity-Dependent Kalman Filter (VDKF) is developed. Unlike the standard Kalman Filter, the VDKF adaptively adjusts measurement confidence according to vehicle speed, thereby improving hitch angle estimation across a wide range of operating conditions. Furthermore, an advanced steering controller is proposed that integrates trailer dynamics and a prediction-based compensation mechanism for lateral motion delay. By predicting the future states of the tractor and trailer, the controller mitigates the delay effect by incorporating these future states into the control system. The overall objective of this work is to enhance lateral stability and robust path tracking of semi-trailer trucks under varying payloads and steering delays. Simulation results demonstrate that the proposed controller reduces lateral deviation by up to 86.4% compared to Pure Pursuit (PP) and 53.0% compared to the Linear Quadratic Regulator (LQR), while maintaining robustness under payload variation and a 500 ms steering delay.