Driver assistance systems are now a standard feature in modern passenger vehicles,
primarily for improving safety and reducing fuel consumption. Extending these systems
to freight transport is essential, particularly when addressing one of the most challenging
maneuvers, the reversing. Reversing a long, articulated truck–semitrailer combination
is inherently unstable, and requires active control to ensure safe maneuvering.The
effect of steering angle saturation changes the dynamical properties of a truck–semitrailer
combination. In this study, we examine the dynamics of a truck–semitrailer reversing
maneuver and analyze how steering angle saturation affects the stability of the autonomous
feature proposed for reversing a truck–semitrailer.
