Abstract
Articulated heavy-duty vehicles (HDVs) exhibit complex dynamic behavior during operation, leading to several control challenges. A critical aspect that plays an important role in the vehicle's performance is the vehicle model used in the development of autonomous functions. A model that adequately represents the response of the vehicle is essential to obtain the desired dynamic simulations and implement control and planning algorithms. This paper focuses on the hybrid-Kinematic (hK) vehicle model for modelling autonomous HDVs, and the validation of its behaviour behaviour via IPG TruckMaker®. A comparison between the hK and a dynamic model was conducted to analyze and evaluate its precision and performance in reversing. The results have shown that the hK model effectively mimics the behavior of the articulated truck, thus facilitating to solve the tracking control problem.