Enable MULti-ArticulaTed vehicle rEversing (EMULATE)

In this project, we analysed and modelled the TRENS Solar Train, a multi-articulated, battery-electric vehicle designed for last-mile cargo transport. The primary objective was to develop a system enabling the reversal of the vehicle combination. Two distinct models were developed:
• Kinematic Model: A lightweight model suitable for developing complex controllers for low-speed applications.
• MATLAB–Simscape Multibody Model: A detailed physics-based model capable of simulating the vehicle's behavior across a wide range of operational scenarios, serving as a test bench for future system development.
Both models were validated using real-world tests to ensure their accuracy and reliability. Through this analysis, a system was identified that stabilizes the vehicle during reverse operation and facilitates reversing. This system requires the trailers to have independently actuated rear steer axles and also the ability to lock the steering of the front trailer steer axles. Also, additional sensors need to be installed which senses the articulation angles between the vehicle units. However, implementing this system requires significant vehicle modifications which could not be completed in the scope of this project. These developments will be pursued in collaboration with future projects.

Road freight transport contributes to 75% of the global logistics CO2 emissions. Various European initiatives are calling for a drastic cut-down of CO2 emissions in this sector [1]. This requires advanced and very expensive technological innovations; i.e. re-design of vehicle units, hybridization of powertrains and autonomous vehicle technology.
One particular innovation that aims to solve this problem is multi-articulated vehicles (road-trains). They have a smaller footprint and better efficiency of transport than traditional transport vehicles like trucks. In line with the missions for Energy Transition and Sustainability [2], road-trains can have zero-emission powertrains leading to clean and sustainable urban mobility of people and goods.
However, multiple articulations in a vehicle pose a problem of reversing the vehicle. Since it is extremely difficult to predict the sideways movement of the vehicle combination while reversing, no driver can master this process.
This is also the problem faced by the drivers of TRENS Solar Train’s vehicle, which is a multi-articulated modular electric road vehicle. It can be used for transporting cargo as well as passengers in tight environments, making it suitable for operation in urban areas. This project aims to develop a reverse assist system to help drivers reverse multi-articulated vehicles like the TRENS Solar Train, enabling them to maneuver backward when the need arises in its operations, safely and predictably. This will subsequently provide multi-articulated vehicle users with a sustainable and economically viable option for the transport of cargo and passengers with unrestricted maneuverability resulting in better application and adding to the innovation in sustainable road transport.