Advanced Steering Stability Controls for Autonomous Articulated Vehicles Based on Differential Braking

Road freight transportation remains the dominant mode for goods distribution worldwide, with articulated vehicles playing a critical role in this sector. However, these vehicles are prone to severe instability phenomena such as jackknifing, trailer sway, and rollover, particularly under high-speed or emergency maneuvers. This paper presents an advanced steering stability control strategy for articulated vehicles based on Model Predictive Control (MPC) and differential braking, aiming to enhance lateral and yaw stability during autonomous driving operations. The proposed controller integrates trajectory tracking and yaw stability objectives within a unified optimization framework, systematically handling multi-variable constraints. A dynamic model of a tractor–semitrailer combination has been developed, enabling accurate representation of vehicle kinematics and tire forces. Simulation results demonstrate that the inclusion of differential braking significantly reduces articulation angle and yaw rate deviations, preventing instability even at speeds exceeding the critical threshold of 31.04 m/s. Comparative analysis reveals that coordinated braking applied to both tractor and trailer units achieves superior performance over single-unit application, particularly under high-speed conditions. While the findings confirm the effectiveness of MPC-based differential braking for articulated vehicle stability, the study also highlights the current limitation of simulation-based validation and the need for experimental testing to ensure real-world applicability. Future research should explore multi-actuator coordination, including active front steering integration, to further enhance stability and reduce longitudinal speed loss.