Tractor-Trailer Steering Control for Path Tracking with Linear Spatial Model Predictive Control

Yongjae Lim; Sangyoon Kim; Kyongsu Yi

doi:10.22680/kasa2025.17.3.006

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2025 Vol.17, Issue 3 Next Page

Tractor-Trailer Steering Control for Path Tracking with Linear Spatial Model Predictive Control 자율주행 트랙터-트레일러의 경로 추종을 위한 선형 공간 모델 예측 제어

30 September 2025. pp. 6-18

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Abstract

In the realm of tractor-trailer control, the Nonlinear Model Predictive Controller (NMPC) has demonstrated superior performance in tackling complex driving scenarios. However, it comes with a substantial calculation time burden. This paper introduces a Linear Spatial Model Predictive Control (LSMPC) designed to reduce runtime while ensuring performance. Our focus lies on steering control to position the rear wheels of tractor and trailer along the desired path. LSMPC is implemented by CVXGEN. For verifying our controller, we use TruckSim simulation environment and compare LSMPC and Nonlinear Spatial Model Predictive Control (NSMPC). Our findings indicate that while LSMPC maintains lateral error within allowable range considering road lane width, it excels NSMPC in convergence speed due to its reduced runtime.

Keywords

Linear model predictive control(선형 모델 예측 제어)

Spatial model predictive control(공간 모델 예측 제어)

Path tracking(경로 추종)

Tractor-Trailer(트랙터-트레일러)

References

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차모빌리티안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 17
No :3
Pages :6-18
Received Date : 2023-11-17
Revised Date : 2024-10-01
Accepted Date : 2025-04-14
DOI :https://doi.org/10.22680/kasa2025.17.3.006

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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