Abstract In this work we study the effect of changing the vehicle guidance point position over the collision risk and motion control performance of an N-trailer vehicle. Based on a Monte Carlo method, we are able to find the correlation among motion control performance, trajectory curvature variation and guidance point position, to strategically select the latter to enhance the motion control performance. The performance metrics consider controller effort and manoeuvrability space penalties associated with off-track errors and unsafe manoeuvres of the entire vehicles’ chain. To validate scalability of the guidance point selection strategy, several N-trailer vehicles were tested in simulation to track a trajectory with abrupt curvature changes, similar to the trajectories executed by machinery in agricultural operations. The performance results are compared to ones obtained using traditional strategy to show the reduction of dangerous manoeuvres as internal turning from 24.5% up to 42.6% as well as a reduction of the resultant off-track errors from 17.3% up to 26.84% in the cases from 4 to 10 trailers respectively.

中文翻译：

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通过离轨最小化降低N型挂车农业机械碰撞风险

摘要 在这项工作中，我们研究了改变车辆引导点位置对 N 拖车碰撞风险和运动控制性能的影响。基于蒙特卡罗方法，我们能够找到运动控制性能、轨迹曲率变化和引导点位置之间的相关性，从而有策略地选择后者以提高运动控制性能。性能指标考虑了与整个车辆链的偏离轨道错误和不安全操纵相关的控制器工作量和机动性空间损失。为了验证引导点选择策略的可扩展性，在模拟中测试了几辆 N 拖车以跟踪曲率突然变化的轨迹，类似于农业作业中机械执行的轨迹。