Distribuerad Vagnsreglering av Multi-trailer Fordon
Forskningsprojekt, 2021 – 2024

Electrification of trucks, trailers and dollies created a lot of new possibilities to control long vehicle combinations. Such combinations are over-actuated with many propelled, steerable, liftable axles hence it is possible to achieve the most optimal control allocation by solving a control allocation problem. Maximizing safety and minimizing the energy consumption are the ultimate aims for such optimization problem. Furthermore, long vehicle combination can be decoupled into 2 parts for increased manoeuvrability at the roundabouts and coupled back later. To control such vehicles, a novel motion control strategy is needed.

In this project, a generic motion control strategy that allocates the global force request to individual actuators for a multi-trailer vehicle combination will be developed.


Research Questions:

• Is it possible to generate B-matrix for each unit and combine them to a control a multi-unit vehicle?
• Or alternatively, should there be a higher level controller that controls global force allocation to each unit and another lower level controller that allocates the control inputs to each actuator within each unit?
• How should the coupling forces be controlled?
• What is the best way to relate coupling force control to individual wheel forces control?
• How to automatically couple and decouple a long vehicle combination to smaller combinations?



• Answers to research questions
• 1 Vehicle Dynamics PhD, employed in Swedish Vehicle Industry


Mats Jonasson (kontakt)

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Umur Erdinc

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Jonas Fredriksson

Chalmers, Elektroteknik, System- och reglerteknik

Bengt J H Jacobson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Leo Laine

Chalmers, Mekanik och maritima vetenskaper


VBG GroupTruck Equipment AB

Vänersborg, Sweden


Göteborg, Sweden


FFI - Fordonsstrategisk forskning och innovation

Projekt-id: 2020-05144
Finansierar Chalmers deltagande under 2021–2024

Relaterade styrkeområden och infrastruktur



ReVeRe (Research Vehicle Resource)



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