Reverse path tracking control methods for tractor trailers using trailer steering system

This paper presents a control strategy to enhance high-curvature trajectory tracking in tractor-trailer reverse maneuvers. This study incorporates rear-wheel steering control of the trailer, enabling more flexible movement and improved trajectory tracking performance. The control system consists of two components: a trailer rear-wheel steering controller, which aligns the trailer’s rear end with the target path, and a tractor front-wheel steering controller, which stabilizes the hitch angle. Geometric analysis is used to derive methods for calculating both the target curvature toward the desired point and the trailer’s current curvature. Additionally, a novel approach for determining lateral error is proposed, utilizing a local coordinate system with the trailer’s rear end as the origin. The control system is designed using Simulink and simulated through TruckSim. The results demonstrate improved reverse path tracking performance when following a high-curvature trajectory with discontinuous curvature changes.