Abstract:

A 6 DoF tractorsemitrailer train model was established and combined with a driver model incorporating the path preview, the lowand highfrequency compensatory gains, the time delay, and the vehicle state prediction function. The design parameters of the train coupled with different drivers were analyzed. The GaussNewton method was used to define the ranges of the train parameters to adapt the drivers with different skills. It was concluded that the safety performance of the train can be enhanced through optimization of the train parameters. A driver with excellent driving skill can easily adapt a train with large size, soft suspension and high degree of oversteering. The adaptation of the train to the driver reduces the driver steering effort, vehicle roll angle and yaw rate remarkbly.

Key words: vehicle engineering, tractor-semi trailer, Gauss-Newton method, driving skills