Reducing tyre wear emissions of automated articulated vehicles through trajectory planning

HIGHLIGHTS

• What: This paper is organised as follows: firstly, the models (articulated vehicle and wear model) are described; secondly, the formulation of the optimal control problem is presented, including objectives, constraints, and boundaries; then, the results are described for the different scenarios studied; and, finally, conclusions are extracted. To calculate the total tyre mass loss due to wear, i.e., the first objective, the product of Equation with the tyre width in contact with the road is evaluated. Later in the analysis, the focus is on the first one or two kilometers as illustrated in Figure 2b, to . . .
  

   

  

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