Modeling and verification for heavy-duty semi-trailer

A reference model of three-axis semi-trailer combination was established and a nonlinear Lagrange equation that can be applied to each generalize was written based on this reference model. The model was simulation verified in Double Lane Change condition with high friction coefficient. The results showed that the relevant parameters are all in a steady state and they were closed to the real vehicle data in the Trucksim software. It indicated that this model was accurate, and it can be used in development of controller.