Rearward Amplification Behavior in n-Trailer Kinematic Articulated Vehicles⁎

Abstract

Rearward amplification is an important consideration for articulated vehicle control. While extensively explored in the literature on active safety systems development, it is an under-explored area for the development of motion planning algorithms for tasks such as driver model design and automated driving system development. In this paper, the rearward yaw rate amplification response is investigated for kinematic models of multi-axle n-trailer vehicles, that is, vehicles in which a tractor vehicle pulls an arbitrary number of trailers. Partial experimental validation of kinematic models of multi-trailer articulated vehicles is conducted using real-world data, which is further used to investigate their rearward yaw rate amplification behavior.