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In this paper, dynamics and stability of an articulated vehicle in the yaw plane are examined through analysis, simulations, and vehicle testing. Control of a vehicle-trailer combination using active braking of the towing vehicle is discussed. A linear analytical model describing lateral and yaw motions of a vehicle-trailer combination is used to study the effects of parameter variations of the trailer on the dynamic stability of the system and limitations of different control strategies. The results predicted by the analytical model are confirmed by testing using a vehicle with a trailer in several configurations. Design of the trailer makes it possible to vary several critical parameters of the trailer. The test data for vehicle with trailer in different configurations is used to validate the detailed non-linear simulation model of the vehicle-trailer combination.

Advanced chassis control systems enable a vehicle to achieve new levels of performance in handling stability and responsiveness. In recent work by NHTSA and others, the performance of Electronic Stability Control (ESC) systems has been studied with focus on yaw stability and roll stability of vehicles on high friction surfaces. However, it is recognized that vehicle handling responsiveness is also an important aspect that should be maintained. This paper explores the trade-offs between yaw rate, side slip, and roll motions of a vehicle, and their relationships to handling stability and handling responsiveness. This paper further describes how various control systems are able to manage these motions. The paper also discusses methods to assess vehicle stability and responsiveness using specific maneuvers and measurements, and it includes data from vehicle tests on a slippery surface.