{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T19:08:37Z","timestamp":1768676917244,"version":"3.49.0"},"reference-count":33,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2022,7,10]],"date-time":"2022-07-10T00:00:00Z","timestamp":1657411200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51975428"],"award-info":[{"award-number":["51975428"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52072116"],"award-info":[{"award-number":["52072116"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Most existing Path-Following Algorithms (PFAs) are developed for single-unit vehicles (SUVs) and rarely for articulated vehicles (AVs). Since these PFAs ignore the motion of the trailer, they may cause large tracking deviations and ride stability issues when cornering. To this end, an Adaptive Articulation Angle Preview-based Path-Following Algorithm (AAAP-PFA) is proposed for AVs. Different from previous PFAs, in this model, a simple linear vehicle dynamics model is used as the prediction model, and an offset distance calculated by an articulation angle is used as part of the preview distance. An adaptive posture control strategy is designed to trade off the trajectory tracking performance and lateral stability performance during the path-following process. Considering a large prediction mismatch caused by using a linear vehicle dynamics model, a feedback correction method is proposed to improve the robustness of the steering control. In the comparison simulation experiment with SUV-PFA, it is confirmed that the novel PFA has better adaptability to the contradictory relationship between tracking performance and lateral stability and has strong steering control robustness.<\/jats:p>","DOI":"10.3390\/s22145163","type":"journal-article","created":{"date-parts":[[2022,7,11]],"date-time":"2022-07-11T00:06:21Z","timestamp":1657497981000},"page":"5163","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Adaptive Articulation Angle Preview-Based Path-Following Algorithm for Tractor-Semitrailer Using Optimal Control"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0283-6712","authenticated-orcid":false,"given":"Xuequan","family":"Tang","sequence":"first","affiliation":[{"name":"Department of Automobile and Traffic Engineering, Wuhan University of Science and Technology, No. 2, Huangjiahu West Road, Hongshan District, Wuhan 430065, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9118-5095","authenticated-orcid":false,"given":"Yunbing","family":"Yan","sequence":"additional","affiliation":[{"name":"Department of Automobile and Traffic Engineering, Wuhan University of Science and Technology, No. 2, Huangjiahu West Road, Hongshan District, Wuhan 430065, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6327-2626","authenticated-orcid":false,"given":"Baohua","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Automobile Engineering, Hubei University of Automotive Technology, Shiyan 442002, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0949-2449","authenticated-orcid":false,"given":"Lin","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Automobile and Traffic Engineering, Wuhan University of Science and Technology, No. 2, Huangjiahu West Road, Hongshan District, Wuhan 430065, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,7,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"102014","DOI":"10.1016\/j.simpat.2019.102014","article-title":"Quantifying drivers\u2019 driving skills using closed-loop dynamic simulations of articulated heavy vehicles","volume":"99","author":"Brown","year":"2020","journal-title":"Simul. 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