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This paper presents an analytical study of the performance improvements that can be obtained at both high and low speed using multiple steered axles on heavy articulated trucks. At high speed, rollover usually represents a worst case scenario. Therefore we have chosen to evaluate possible steering designs based on their ability to reduce lateral acceleration of the semitrailer center of gravity. This is in contrast to passenger cars where four-wheel steering has typically been evaluated based on measures that were thought to be related to driver acceptance. This paper also investigates the effects of steering rear tractor axles on the low-speed maneuverability of the vehicle. Steering algorithms for the rear tractor tires were evaluated using frequency response and simulation of an obstacle avoidance maneuver. Results indicate that at high speeds considerable reductions in trailer lateral acceleration can be obtained during transient maneuvers.

This paper gives a history of simulation of commercial vehicles, starting with the early models and progressing to today's multibody models. This is followed by a discussion of the key questions faced by simulators. Finally, the paper presents a new method to postprocess results through videoanimation.