{
  "$type": "site.standard.document",
  "description": "A method for reducing off-tracking by a multi-trailer heavy duty vehicle during a maneuver, the method comprising obtaining a model of vehicle dynamics describing dynamics of the multi-trailer heavy duty vehicle, determining respective force trajectories for two or more axles of the vehicle as a…",
  "path": "/patents/1356915",
  "publishedAt": "2023-12-28T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18172",
    "VOLVO TRUCK CORPORATION"
  ],
  "textContent": "A method for reducing off-tracking by a multi-trailer heavy duty vehicle during a maneuver, the method comprising obtaining a model of vehicle dynamics describing dynamics of the multi-trailer heavy duty vehicle, determining respective force trajectories for two or more axles of the vehicle as a solution to a non-linear optimal control problem, NOCP, where the NOCP is formulated with an objective to at least minimize trailer off-tracking, wherein the NOCP is formulated based on the model of vehicle dynamics, and controlling motion of the heavy duty vehicle during the maneuver based on the determined force trajectories.",
  "title": "METHODS FOR REDUCING HIGH-SPEED OFF-TRACKING IN MULTI-TRAILER HEAVY DUTY VEHICLES"
}