Dual predictive model adaptive switching control for directional control of tractor semitrailer combinations

In order to ensure that safety and reliability of tractor semitrailer combinations (TSCs) on the road, human drivers’ steering decisions need comprehensively consider trajectories states semitrailer. For this purpose, a dual predictive model adaptive switching control decision for directional is proposed. Firstly, multi-point preview algorithm general regression neural network are designed percept current local target paths Then, kinematic low-speed path tracking dynamic high-speed following lateral stability established respectively. addition, an S-type function introduced realize smooth between two algorithms. Finally, in study validated by numerical simulations under different conditions compared with single-point driver MPC without considering The results show proposed approach can accurately track effectively improve stability.