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A double-Gaussian distribution was introduced to deduce the lane-change trajectories of tractor and trailer coupling characteristics of intelligent vehicles and roads. ... Furthermore, a combined controller was designed by feedback linearization and single-point preview optimization to ensure the path tracking and robust stability. ... Pang Y.W. and Tong Y.K. and also Professor Wang J.Q. from School of Vehicle and Mobility in Tsinghua University for valuable discussions to improve the quality and presentation of this paper. ...doi:10.1108/jicv-10-2019-0013 fatcat:lfo3ctcxhbfmteaivdg6qc7ura