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    <title>Transport Research International Documentation (TRID)</title>
    <link>https://trid.trb.org/</link>
    <atom:link href="https://trid.trb.org/Record/RSS?s=PHNlYXJjaD48cGFyYW1zPjxwYXJhbSBuYW1lPSJkYXRlaW4iIHZhbHVlPSJhbGwiIC8+PHBhcmFtIG5hbWU9InN1YmplY3Rsb2dpYyIgdmFsdWU9Im9yIiAvPjxwYXJhbSBuYW1lPSJ0ZXJtc2xvZ2ljIiB2YWx1ZT0ib3IiIC8+PHBhcmFtIG5hbWU9ImxvY2F0aW9uIiB2YWx1ZT0iMCIgLz48L3BhcmFtcz48ZmlsdGVycz48ZmlsdGVyIGZpZWxkPSJpbmRleHRlcm1zIiB2YWx1ZT0iJnF1b3Q7VHJhaWxlciZxdW90OyIgb3JpZ2luYWxfdmFsdWU9IiZxdW90O1RyYWlsZXImcXVvdDsiIC8+PC9maWx0ZXJzPjxyYW5nZXMgLz48c29ydHM+PHNvcnQgZmllbGQ9InB1Ymxpc2hlZCIgb3JkZXI9ImRlc2MiIC8+PC9zb3J0cz48cGVyc2lzdHM+PHBlcnNpc3QgbmFtZT0icmFuZ2V0eXBlIiB2YWx1ZT0icHVibGlzaGVkZGF0ZSIgLz48L3BlcnNpc3RzPjwvc2VhcmNoPg==" rel="self" type="application/rss+xml" />
    <description></description>
    <language>en-us</language>
    <copyright>Copyright © 2026. National Academy of Sciences. All rights reserved.</copyright>
    <docs>http://blogs.law.harvard.edu/tech/rss</docs>
    <managingEditor>tris-trb@nas.edu (Bill McLeod)</managingEditor>
    <webMaster>tris-trb@nas.edu (Bill McLeod)</webMaster>
    <image>
      <title>Transport Research International Documentation (TRID)</title>
      <url>https://trid.trb.org/Images/PageHeader-wTitle.jpg</url>
      <link>https://trid.trb.org/</link>
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    <item>
      <title>A Basic Study on Meandering Motion of Multi-Articulated Vehicle</title>
      <link>https://trid.trb.org/View/2658360</link>
      <description><![CDATA[Currently, the population of Japan is steadily decreasing, and the shortage of the working population is a major issue in various fields. Normally, one tractor-driver pulls 1~2 trailers, so it has a higher transport capacity than other vehicles. But if the number of trailers towed can be reasonably increased, it can be easily predicted that it will help solve the shortage of drivers. We thought that it was necessary to examine in advance what kind of problems occurred in the motion of the multi-articulated vehicle.]]></description>
      <pubDate>Tue, 14 Apr 2026 10:11:23 GMT</pubDate>
      <guid>https://trid.trb.org/View/2658360</guid>
    </item>
    <item>
      <title>Automated steering control for improved path tracking and stability of articulated heavy goods vehicles</title>
      <link>https://trid.trb.org/View/2659286</link>
      <description><![CDATA[In the context of automated driving, articulated HGVs, such as tractor-semitrailers are popularly used for goods transportation. They are advantageous due to their larger capacity, but their increased mass and size pose lateral instability issues which may lead to safety-critical situations. Automated steering controllers capable of precise path-tracking and improved lateral stability may help avoid such problems. Here, we present two lateral controllers: Front Axle Reference (FAR) and Adaptive Reference (AR). FAR provides precise path tracking at the front of the vehicle, while AR drives more like a human driver, reducing the overall offtracking of the vehicle while ensuring stability. Both controllers are designed using Artificial Flow Guidance (AFG), which provides a motion reference based on path geometry. Simulations carried out for a broad range of speeds show centimetre-level path-tracking precision and improved lateral stability compared to the simple and familiar Pure Pursuit method. Controller performance is also seen to be robust to changes in trailer mass. Preliminary experimental results, conducted at low-speeds, tend to support these findings.]]></description>
      <pubDate>Tue, 14 Apr 2026 10:11:23 GMT</pubDate>
      <guid>https://trid.trb.org/View/2659286</guid>
    </item>
    <item>
      <title>Factors and Control Strategies in Road Freight Transport Tractor-Semitrailer Stability Tests</title>
      <link>https://trid.trb.org/View/2613321</link>
      <description><![CDATA[This study delves into the multidimensional factors affecting the successful completion of comparative tests on the handling stability of road freight tractor-semitrailer (hereafter referred to as “tractor-semitrailer handling stability”). The research focuses on three core areas: the performance and status of testing equipment, the professional competence and operational capabilities of the test personnel, and the complexity and variability of the testing environment. The findings indicate that by effectively addressing these influencing factors, the scientific rigor, accuracy, and repeatability of the tests can be significantly enhanced, providing solid theoretical support and technical guidelines for the practical execution of comparative tests. The results not only enrich the theoretical framework of train handling stability research but also offer valuable references for technological advancements and standard setting in related industries.]]></description>
      <pubDate>Fri, 20 Mar 2026 14:10:52 GMT</pubDate>
      <guid>https://trid.trb.org/View/2613321</guid>
    </item>
    <item>
      <title>Anti-Rollover Path Tracking Control for an Autonomous Semi-Trailer Tank Truck</title>
      <link>https://trid.trb.org/View/2591153</link>
      <description><![CDATA[This study focuses on the anti-rollover control problem for autonomous semi-trailer tank trucks and proposes an anti-rollover path tracking control algorithm suitable for autonomous driving scenarios. A simplified semi-trailer tank truck model is established in the controller, modeling liquid as a single pendulum considering both lateral and roll inputs, and an anti-rollover path tracking algorithm that utilizes it is developed based on multi-constraint model predictive control (MPC). The equivalent lateral load transfer rate (LTR), liquid sloshing angle, and angular velocity are used as constraints to achieve multi-objective optimization for path tracking, sloshing suppression, and rollover prevention. A vehicle-fluid coupling co-simulation platform based on computational fluid dynamics (CFD) is built to verify the control performance under extreme scenarios of left turning, high-speed single-lane change (SLC), and short-distance double-lane change (DLC). Additionally, the similarity principle for experimental validation using a down-scale model tank truck is derived, and experiments are conducted on the model semi-trailer tank truck under the DLC scenario. Through simulation and experimental verification, the proposed anti-rollover path tracking algorithm demonstrates acceptable tracking performance while ensuring that no rollover is carried out under extreme conditions, limiting the angle of  $|LTR|\lt 0.75$  and sloshing within  $- 20\circ $ - $20\circ $ , reducing the angle of sloshing by a maximum of 42% in the experiment. Moreover, the real-time capability of the proposed algorithm meets the requirements for practical applications with a peak time consumption of one control step less than  $20~ms$  in the controller tested.]]></description>
      <pubDate>Fri, 20 Mar 2026 14:10:50 GMT</pubDate>
      <guid>https://trid.trb.org/View/2591153</guid>
    </item>
    <item>
      <title>Special Crash Investigations: On-Site Heavy Truck Underride Crash Investigation; Vehicle: 2017 International ProStar LF687 Truck Tractor; Location: California; Crash Date: December 2022</title>
      <link>https://trid.trb.org/View/2672496</link>
      <description><![CDATA[This report documents the on-site investigation of a fatal heavy-truck underride crash involving a 2017 International  ProStar LF687 truck tractor pulling a 2010 Hyundai trailer and a 2002 Ford Mustang in California in December  2022. The International was driven by a belted 52-year-old male. The Ford was driven by a belted 29-year-old male  with an unbelted 28-year-old female in the front passenger seat, a belted 9-year-old male in the second-row left seat,  and a 2-year-old female in the second-row right seat. The 2-year-old was using an unknown type of child restraint.  The International entered the intersection and began a left turn. The tractor had completed the turn, but the trailer was  still in the westbound lanes. The Ford’s front plane struck the Hyundai trailer’s left plane. The Ford underrode the  trailer, became wedged beneath, and came to rest. The Ford driver was fatally injured. The Ford’s passengers were  transported to a local trauma center with minor to moderate injuries. The International driver was not injured.]]></description>
      <pubDate>Wed, 25 Feb 2026 09:33:51 GMT</pubDate>
      <guid>https://trid.trb.org/View/2672496</guid>
    </item>
    <item>
      <title>Trucking Litigation: A Forensic Analysis</title>
      <link>https://trid.trb.org/View/2635344</link>
      <description><![CDATA[This report examines tractor-trailer tort cases from 2019 through 2024. Factors analyzed include: location of trial and the benefits of federal venues, trends over time of tractor-trailer tort cases, impact on awards from types of negligence such as failure to stop or speeding, injury type and impact on awards, settlements and verdicts, exaggerated claims, and defense strategies. Trends indicate that the number of tractor-trailer tort cases per year are rising and the total litigation award amounts are rising. In addition to litigation trends, four emerging trucking industry legal issues are discussed: lawsuits based on product liability claims, the use of extraneous evidence, litigation funded by third parties, and the argument that compliance with Federal Motor Carrier Safety Regulation (FMCSR) mandatory safety standards is the minimum level of care and therefore should be exceeded.]]></description>
      <pubDate>Wed, 25 Feb 2026 08:54:40 GMT</pubDate>
      <guid>https://trid.trb.org/View/2635344</guid>
    </item>
    <item>
      <title>A Review of Trajectory Planning and Tracking Methods for the Tractor-Trailer System</title>
      <link>https://trid.trb.org/View/2625412</link>
      <description><![CDATA[Autonomous tractor-trailer systems (TTSs) are important carriers in intelligent logistics because of their large and flexible cargo capacities. As one TTS contains multiple cars that are connected with rigid articulations, its states and characteristics are much more complicated than those of a single-body vehicle, which brings great challenges for trajectory planning and tracking control methods. Therefore, we first analyze the kinematic and dynamic features of TTSs and then review the corresponding solutions in multiple modules, from parameter estimation, to model construction, to trajectory planning, and finally to trajectory tracking control modules. As there are several reviews on trajectory planning and tracking control methods of single-body vehicles, except for classifying the literature with techniques, we highlight the adjustment in the techniques due to TTSs’ complex characteristics. There are also abundant emerging methods applicable to TTSs specifically, which are supplemented in this work.]]></description>
      <pubDate>Mon, 23 Feb 2026 11:23:12 GMT</pubDate>
      <guid>https://trid.trb.org/View/2625412</guid>
    </item>
    <item>
      <title>Comparative Research on Rollover Instability Sequences of A-Double Road Train</title>
      <link>https://trid.trb.org/View/2613284</link>
      <description><![CDATA[Two possible rollover sequences of A-double road trains are obtained using graph theory and analyzing the force characteristics of the mechanical connection of each vehicle unit. TruckSim software is used to establish a simulation model, and Double Lane Change and J-Turn tests are carried out, respectively, addressing the complex factors affecting the lateral stability of A-double road trains. The roll angle is found to be the key index to evaluate the rollover stability through the analysis of the motion parameters and load changes of each vehicle unit. The variation trend of vehicle state at different speeds under the two test methods is compared. The rollover order of each vehicle unit is obtained and verified by combining the instability order in graph theory and real vehicle testing. The results show that the A-double road train has a different rollover instability sequence under different steering inputs.]]></description>
      <pubDate>Fri, 20 Feb 2026 15:28:24 GMT</pubDate>
      <guid>https://trid.trb.org/View/2613284</guid>
    </item>
    <item>
      <title>A directional-performance control design for articulated heavy vehicles with extendable-trailers</title>
      <link>https://trid.trb.org/View/2633022</link>
      <description><![CDATA[Articulated heavy vehicles (AHVs) with extendable-trailers cost-effectively transport freight under varying operating conditions, and they are well-suited for delivering cargos with varying sizes. These AHVs face a challenging issue of varying performance in steady-state handling characteristics, lateral-stability, and manoeuvrability under various conditions. To address this issue, a control design with a fuzzy-PID (proportional, integral, and derivative) controller-based differential-braking system is proposed to improve the directional-performance of these AHVs. To examine the varying performance of a tractor/semi-trailer with extendable-trailer, simulations are conducted. Built upon the knowledge gained from the simulations, the control design problem is formulated; the control design is then evaluated using co-simulations in a Matlab/Simulink-TruckSim environment. The co-simulations demonstrate the effectiveness of the proposed control design.]]></description>
      <pubDate>Fri, 20 Feb 2026 09:04:07 GMT</pubDate>
      <guid>https://trid.trb.org/View/2633022</guid>
    </item>
    <item>
      <title>Adaptive Robust Path Tracking Preview Control for Tractor-Trailer Trucks Considering Trailer Sway and Stochastic Disturbances</title>
      <link>https://trid.trb.org/View/2553374</link>
      <description><![CDATA[This paper proposes an adaptive robust preview control method for path tracking in tractor-trailer trucks, aiming to effectively mitigate trailer sway and attenuate stochastic disturbances while adapting to variable vehicle velocity and path curvature. First, we establish the path tracking control system for the tractor-trailer truck, incorporating the hitch angle and hitch angle rate into the system state to minimize trailer sway. On this basis, an adaptive robust preview control method is developed, integrating feedforward and feedback control to improve tracking performance and robustness. The feedforward controller is designed to proactively minimize tracking errors. In the feedback control, an adaptive observer-based 𝐻∞ robust feedback controller is developed to limit the effects of stochastic disturbances, where an innovative preview distance model, considering variable vehicle velocity and path curvature, is applied to achieve preview control. Then, based on the 𝐻∞ theory, the design criterion of the proposed feedback controller is established, where bilinear matrix inequality (BMI) is transformed into linear matrix inequality (LMI) to solve the observer and controller gains. Additionally, the fuzzy algorithm is performed to enable the feedback controller to adapt to variable velocity. Finally, we evaluate the effectiveness of the proposed method using a hardware-in-the-loop platform. Simulation results confirm its superior robustness and performance compared to the existing baseline control method.]]></description>
      <pubDate>Thu, 19 Feb 2026 10:53:38 GMT</pubDate>
      <guid>https://trid.trb.org/View/2553374</guid>
    </item>
    <item>
      <title>NOₓ emission deterioration in modern trucks: Evidence from remote sensing</title>
      <link>https://trid.trb.org/View/2632317</link>
      <description><![CDATA[This study analyses NOₓ emission deterioration in Euro V and Euro VI ABC diesel trucks using remote sensing data from Belgian and Swiss highways. Trucks are classified as rigid trucks or tractor trailers and articulated trucks with three or more axles. Euro VI ABC trucks comprise 80 % of the dataset, with 93 % of records representing tractor trailers or articulated trucks. A slight temperature dependence of NOₓ emissions is noted, and for deterioration purposes, only data from ambient temperatures between 15 and 25 °C are used. NOₓ emissions increase linearly with mileage, while the NO₂/NOₓ ratio decreases following a polynomial trend. The NOₓ deterioration rate for Euro VI ABC tractor trailers ranges from 0.09 to 0.15 ± 0.01 g/kg fuel per 100,000 km, corresponding to an overall increase of about 60–70 % over 700,000 km, with no substantial difference observed between Belgian and Swiss trucks. Most trucks remain within regulatory NOₓ limits throughout their lifespan. However, a significant subset of high emitters is identified, with Euro V vehicles exceeding 20 g NOₓ/kg fuel (∼4 g/kWh), and Euro VI vehicles exceeding 7 g NOₓ/kg fuel (∼1.33 g/kWh). The share of high emitters among Euro VI ABC tractor trailers increases with mileage, averaging about 7–11 % at approximately 325,000 km across both Belgium and Switzerland. These vehicles increase NOₓ emissions from the clean fleet when driving on highways by 30–50 %. The findings support updated deterioration functions and emission factors in the forthcoming Handbook of Emission Factors for Road Transport v5.1, aiding emission inventorying, regulation, and air quality management under Europe's Zero Pollution Ambition.]]></description>
      <pubDate>Wed, 18 Feb 2026 13:22:47 GMT</pubDate>
      <guid>https://trid.trb.org/View/2632317</guid>
    </item>
    <item>
      <title>Evaluating the Performance of Concrete Barriers in Protecting Bridge Piers under Vehicular Impact in Space-Constrained Settings</title>
      <link>https://trid.trb.org/View/2663261</link>
      <description><![CDATA[Unprotected bridge piers are exposed to vehicular impact loads that can significantly exceed the code-specified design load, posing a significant risk of structural damage. Although protective barriers offer an efficient means of mitigating these risks, the effectiveness of these barriers for bridge piers is strongly influenced by space constraints between the piers and barriers. Barriers placed adjacent to piers may directly transfer impact forces and cause severe damage, while those placed with inadequate offsets can experience intrusion of vehicle components. This study evaluates the performance of a standard 1,372 mm (54 in.) pier protection barrier in adjacent and minimally spaced configurations using high-fidelity finite-element analysis. A sensitivity analysis is conducted to determine the effect of barrier height and offset distances on impact force transfer between tractor-trailers and piers in constrained spaces. Results indicate that increasing the spacing from 25 mm (1 in.) to 75 mm (3 in.) reduces the rear trailer impact force on the bridge pier by 75% for the studied cases. Additionally, increasing the height of the 1,372 mm (54 in.) tall barrier by 25 mm (1 in.) can completely mitigate the impact force due to the rear of the trailer. However, the front trailer impact force is less sensitive to changes in both height and spacing, requiring a barrier height of at least 1,422 mm (56 in.) with 50 mm (2 in.) to 75 mm (3 in.) spacing. Additionally, increasing barrier height is the most effective strategy in preventing load transfer, even in space-constrained settings.]]></description>
      <pubDate>Tue, 17 Feb 2026 10:30:24 GMT</pubDate>
      <guid>https://trid.trb.org/View/2663261</guid>
    </item>
    <item>
      <title>Stability-Guaranteed Model Predictive Path Tracking of Autonomous Tractor Semi-Trailers Under Extreme Conditions</title>
      <link>https://trid.trb.org/View/2598828</link>
      <description><![CDATA[Autonomous tractor semi-trailers are expected to improve safety and efficiency for road freight transportation. However, the complex dynamics introduced by the articulated structure of the tractor semi-trailer results in poor yaw and roll stability, which in consequence poses great challenges in path tracking under extreme conditions featuring high lateral acceleration or low tire-road friction. In this work, a stability-guaranteed computationally efficient model predictive path tracking framework is devised. In particular, a comprehensive tractor semi-trailer stability constraint (TSSC) consisting of a three-dimensional (3D) yaw stability envelope and rollover limitation is proposed to guarantee the yaw and roll stability. By linearizing the system model and constraints, the proposed path tracking controller is solved as a set of quadratic programming (QP) problems with the potential for real-time implementation. Simulation results demonstrate that the proposed control framework reduces the maximum tracking deviation by at least 48.5% compared to the existing method and ensures the dynamic stability of the tractor semi-trailer under extreme conditions.]]></description>
      <pubDate>Wed, 10 Dec 2025 11:10:48 GMT</pubDate>
      <guid>https://trid.trb.org/View/2598828</guid>
    </item>
    <item>
      <title>Determine the dynamic rollover threshold and roll safety thresholds of tractor semi-trailer vehicles when turning maneuver based on the yaw rate parameters: A simulation approach</title>
      <link>https://trid.trb.org/View/2625556</link>
      <description><![CDATA[The article aims to evaluate the dynamic rollover threshold and roll safety threshold of a tractor semi-trailer vehicle when turning maneuver, based on the vehicle body’s yaw rate parameters. A full dynamics model with the Burckhardt tire model is presented, using the Multibody System method and the Newton-Euler equation system. The model is used to simulate and investigate the motion state of a tractor semi-trailer vehicle when turning maneuver on dry asphalt roads. The survey results show the stability zone and rollover zone for initial velocities ranging from 40 to 80 km/h and the magnitude of steering wheel angles ranging from 12.5 to 300 deg. Using the proposed load transfer ratio, rollover and roll safety zones have been established. The Dynamic Rollover Threshold (DRT) and Roll Safety Thresholds (RSTs) based on the yaw rate parameter are presented. This article demonstrates that vehicle speed and steering wheel angle are key factors that affect the yaw rate dynamic rollover threshold and yaw rate roll safety thresholds of a tractor semi-trailer vehicle. At a speed of 70 km/h, the Dynamic Rollover Threshold based on the yaw rate parameter (YDRT) for tractor and semi-trailer is 13.932 and 13.116 deg/s, respectively. When selecting Proposed Load Transfer Ratio (LTRprop) = 0.8, Roll Safety Threshold based on the Yaw rate parameter (YRST) are 11.286 and 11.028 deg/s for the tractor and semi-trailer, respectively. LTRprop = 0.7, the YRST are 10.176 and 10.058 deg/s for the tractor and semi-trailer, respectively. The results of this study can serve as a basis for designing early warning and anti-roll control systems of tractor semi-trailer when turning maneuver.]]></description>
      <pubDate>Tue, 02 Dec 2025 09:58:28 GMT</pubDate>
      <guid>https://trid.trb.org/View/2625556</guid>
    </item>
    <item>
      <title>Planning and Control of Aircraft Ground Movement Operations With Towbarless Robotic Tractors</title>
      <link>https://trid.trb.org/View/2591911</link>
      <description><![CDATA[This article studies the automation of aircraft ground movement operations using towbarless robotic tractors. The tractor-aircraft system is modeled as a car-like mobile robot with an off-hooked trailer, in which an accurate dynamic model of the tractor-aircraft system is employed. The primary objective of this study is to determine the control inputs and the resulting collision-free trajectories to steer the aircraft from the initial to the final position, under the assumption that the model of the system and the positions of the obstacles are known. This trajectory planning problem is formulated as an energy-time optimal control problem, which is solved using a pseudospectral knotting numerical method. The effects of the uncertainty in the weight of the aircraft on the solution of the planning problem are also quantified. Since, in general, the tractor-aircraft system moves backwards during ground movement operations, the issue of jackknifing is also addressed. Therefore, the secondary objective of this article is to deal with the problem of tracking the planned trajectory while preventing jackknifing. The trajectory tracking problem is solved using a Jacobian linearization of the offset dynamics about the planned trajectory, in which the optimal control inputs are used as feedforward terms to improve tracking precision.]]></description>
      <pubDate>Tue, 11 Nov 2025 11:58:11 GMT</pubDate>
      <guid>https://trid.trb.org/View/2591911</guid>
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