This paper provides valuable guidelines on the selection of dynamic vehicle models for control algorithm development, design optimization and linear stability analysis for multi-trailer articulated heavy vehicles with active safety systems. The validation of yaw-plane and yaw–roll models of a tractor–two-semitrailer combination using the TruckSim software package is presented in this paper. A linear four-degree-of-freedom yaw-plane model and a linear seven-degree-of-freedom yaw–roll model of the vehicle were generated, compared and evaluated. The linear models of the multi-trailer articulated heavy vehicle yield numerical simulation results which are validated by comparing with those obtained from the corresponding non-linear TruckSim model. This paper also includes eigenvalue and frequency-response analysis of the linear models to estimate the unstable motion modes and to predict the unique dynamic features of the multi-trailer articulated heavy vehicle in the frequency domain. A benchmark investigation of the models was performed to examine the fidelity, the complexity and the applicability of the linear models.
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