Abstract
This study examines an automatic collision avoidance system for multi-articulated vehicles by steering control. The Model Predictive Control (MPC) is applied to the steering control with constraint on the relative yawing angle between the tractor and the second trailer to prevent rollover and jackknife in emergency avoidance. The MPC improves obstacle avoidance performance in comparison with the Liner Quadratic (LQ) controller. The controller with constraints on not only the relative yawing angle but also the steering angle suppresses the large steering angle input. The improved avoidance performance by the MPC is also confirmed with a detailed full vehicle model.
