Trailer control through vehicle yaw moment control: Theoretical analysis and experimental assessment

Zanchetta, Mattia; Tavernini, Davide; Sorniotti, Aldo; Gruber, Patrick; Lenzo, Basilio; Ferrara, Antonella; Sannen, Koen; De Smet, Jasper; De Nijs, Wouter · 2019 · OpenAlex-citations

DOI: 10.1016/j.mechatronics.2019.102282

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Summary

This paper addresses the challenge of stabilizing articulated vehicles, specifically mitigating trailer snaking and jackknifing, by utilizing torque-vectoring (TV) on the towing vehicle. While traditional stability control systems rely on friction braking, which reduces speed and is reserved for emergencies, TV offers a drivability-preserving alternative by generating direct yaw moments through differential torque distribution. The authors identify a gap in existing literature: most industrial algorithms rely solely on filtered yaw rate measurements of the towing car, lacking experimental validation for TV controllers and failing to directly incorporate hitch angle feedback. The study proposes a novel single-input single-output (SISO) control formulation that combines continuous yaw rate tracking with hitch angle correction to stabilize the trailer without penalizing vehicle speed. The methodology involves theoretical analysis, simulation, and experimental testing. The control strategy uses a Proportional-Integral (PI) controller with gain scheduling based on vehicle speed. It operates primarily as a yaw rate controller but activates hitch angle feedback when the hitch angle error exceeds specific thresholds, blending the two control inputs to manage trailer oscillations. The authors validated the controller using frequency domain and phase plane analyses, comparing it against an industrial trailer sway mitigation algorithm. Robustness was assessed via high-fidelity simulations in IPG CarMaker, accounting for parameter variations. Experimental validation was conducted on a four-wheel-drive electric Range Rover Evoque demonstrator towing two different single-axle trailers at the Lommel proving ground in Belgium. The results demonstrate that a torque-vectoring controller relying exclusively on the towing car’s yaw rate is insufficient to mitigate trailer instability under extreme conditions. In contrast, the proposed controller, which integrates hitch angle feedback, successfully maintained safe trailer behavior across a comprehensive set of maneuvers. The experimental data confirmed that the additional hardware complexity required for hitch angle measurement is justified by the significant improvement in stability performance. The controller effectively prevented snaking and jackknifing, outperforming the industrial benchmark algorithm in critical scenarios. The significance of this work lies in providing the first experimental assessment of a torque-vectoring controller for full-size articulated vehicles that directly utilizes hitch angle input. It establishes that direct yaw moment control via electric drivetrains can effectively stabilize trailers without the speed penalties associated with friction braking. The findings support the integration of hitch angle sensors into future stability control systems for electric towing vehicles, offering a more robust and drivable solution for managing the complex dynamics of car-trailer combinations.

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