Feasibility of Emergency Steering Function for Semi-trailer Trucks in the Presence of Actuator Limitations

This study investigates the feasibility and performance of a Type 1 Emergency Steering Function (ESF) for semitrailer trucks under steering actuator limitations, an area previously focused mainly on passenger vehicles. By applying a jerkoptimal polynomial for path generation and integrating motion control, power steering system dynamics, and vehicle dynamics modeling suited to semi-trailer trucks, this study assesses evasive steering performance in scenarios with and without steering actuator restrictions. Tests across varying speeds and lateral movement targets demonstrate that steering limitations significantly impact the performance and safety of evasive maneuvers, with metrics such as the Last Point to Steer (LPTS) and Last Point to Brake (LPTB) indicating reduced effectiveness under restricted steering. Results reveal that, without actuator limits, LPTS values consistently fall below LPTB as speed increases, underscoring the effectiveness of steering-based avoidance at high speeds. This analysis provides critical insights for the development of ESF applications for heavy commercial vehicles, supporting advancements in safe and commercially viable maneuvering capabilities.