Safety Boundary of Driving Force for Electric Trailers: Stability Analysis of Articulated Vehicles via Co-Simulation

Introduction​

Electric trailers enhance the tractive performance of conventional articulated vehicles, yet pose significant instability risks (e.g., jack-knifing) during high-torque maneuvers​due to inappropriate driving force intervention. This study systematically quantifies the impact of electric trailer propulsion on vehicle stability through dynamic co-simulation and defines its safety-critical operational boundaries to inform real-time control strategies.

​Methods​

A high-fidelity vehicle model integrating a tractor and electric trailer was developed in TruckSim, incorporating suspension dynamics and Pacejka tire models. Co-simulation with Simulink enabled bidirectional data exchange: TruckSim provided real-time vehicle states, while Simulink implemented driving force allocation algorithms. Stability criteria included steering angle threshold (∣δ∣>15°) and yaw rate deviation (∣Δω∣>3°/s). Critical scenarios (e.g., cornering at 0.4g lateral acceleration, µ-split braking) were tested.

​Results​

1. Electric trailers improved tractive performance by ​18%​​ in straight-line acceleration but increased jack-knifing risk by ​120%​​ during low-friction cornering when driving torque exceeded 1,200 N·m.
2. The safety boundary was characterized by dynamic constraints: ​articulation angle ∣θ∣<12° and ​yaw rate error ∣Δω∣<2°/s​. Model Predictive Control (MPC) enforcing these boundaries reduced instability incidents by ​67%​​ in emergency maneuvers.

​Conclusions​

Electric trailers require strict driving force constraints to mitigate instability. The proposed safety boundary, validated through TruckSim-Simulink co-simulation, provides a foundational framework for real-time control systems. Future work should address sensor latency and road uncertainty.