A comparative study of control algorithms for active trailer steering systems of articulated heavy vehicles

Ding, Xuejun; He, Yuping; Ren, Jing; Sun, Tao

doi:10.1109/acc.2012.6315139

Cited by 10 publications

(4 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The verification process for the co-simulation is outlined as follows: The nonlinear tractor-semitrailer model is formulated using TruckSim ® , software developed by the Mechanical Simulation Company. Known for precision validation, it boasts a high-fidelity nonlinear vehicle dynamics model validated through diverse experimental tests and is extensively employed in semitrailer stability research [ 51 ]. The selected vehicle model, comprising a 3A Cab Over and a 3A Euro Trailer, includes the tractor’s steering axle, drive axle, and semi-trailer axle, with parameters detailed in the S1 File .…”

Section: Methodsmentioning

confidence: 99%

A rollover safety margin-based approach for quantifying the tractor-semitrailers’ emergency lane-changing response on expressway curves

Lv,

Xu,

Gao

2023

PLoS ONE

View full text Add to dashboard Cite

In emergency scenarios, lane changing can provide a considerable advantage over braking by aiding in the prevention of rear-end collisions. However, executing lane changes on horizontal curves might lead to rollover collisions. This study proposes a systematic methodology for quantifying the rollover safety margin during lane-changing maneuvers by encompassing the complex characteristics of vehicle-road interactions. Specifically, an enhanced six-degree-of-freedom vehicle dynamics model was developed for a tractor-semitrailer and integrates road superelevation. Using this model, the rollover safety margin reduction rate (fS) was calculated. The fS represents the ratio of the difference between the lateral load transfer ratio margins under both reference state and emergency lane change conditions to the lateral load transfer ratio margin in the reference state. The reference state corresponds to vehicles maintaining 80 km·h-1 on a 270 m radius curve, while the emergency condition is defined as lane change durations of less than 4 seconds. The results reveal that emergency lane change maneuvers and roadway alignment significantly affect rollover safety margin. Shorter lane change duration, higher speed, and smaller radius worsen the rollover safety margin; these effects are further amplified when the lane change direction is opposite to the curve’s bending direction. When the tractor-semitrailer performs a lane change at 60 km·h-1 within a 4-second duration on a 600 m radius curve, the fS exceeds 100%, indicating an imminent rollover. Consequently, this study contributes valuable evidence to the development of more reliable and secure lane-change strategies.

show abstract

Section: Methodsmentioning

confidence: 99%

A rollover safety margin-based approach for quantifying the tractor-semitrailers’ emergency lane-changing response on expressway curves

Lv,

Xu,

Gao

2023

PLoS ONE

View full text Add to dashboard Cite

show abstract

“…TruckSim is a widely used commercial multibody modelling software package developed by Mechanical Simulation Corporation. The vehicle model built in TruckSim is based on the nonlinear vehicle models tested from various experiments, and has been proven to be able to represent the real vehicle system with high fidelity [29]. Therefore, the accuracy verification of the 5-DOF yaw-roll vehicle model is carried out by the software TruckSim 8.1 under the high-speed SLC maneuver.…”

Section: Dynamic Modellingmentioning

confidence: 99%

Lateral Stability Control of a Tractor-Semitrailer at High Speed

Cai

2022

Machines

View full text Add to dashboard Cite

To improve the high-speed lateral stability of the tractor-semitrailer, a lateral stability control strategy based on the additional yaw moment caused by differential braking is proposed and investigated based on the co-simulation environment. First of all, a five-degree-of-freedom (5-DOF) yaw-roll dynamic model of the tractor-semitrailer is established, and the model accuracy is verified. Secondly, the lateral stability control strategy of the tractor-semitrailer is proposed, two yaw moment controllers and the braking torque distributor are designed. Then, the effectiveness of the proposed control strategy and the influence of the yaw moment controller on the lateral stability of the tractor-semitrailer are investigated under the high-speed lane-change maneuvers. Finally, the controller robustness is discussed. Research results show that the proposed high-speed lateral stability control strategy can ensure the tractor-semitrailer to perform safely the single lane-change (SLC) maneuver at 110 km/h and the double lane-change (DLC) maneuver at 88 km/h; the yaw moment controller has significant influence on the lateral dynamic performance of the tractor-semitrailer; compared with the proportional-derivative (PD) control, the model predictive control (MPC) can make the tractor-semitrailer obtain better lateral stability under high-speed lane-change maneuvers; MPC and PD controllers exhibit good robustness to the considered vehicle parameter uncertainties.

show abstract

“…Equations can be used for each wheel. Equation sets that we can express the state variables have been obtained by writing their places in the equations written between Equation ( 1) -(6) [14]. When the equations of motion are linearized under the conditions mentioned above, it can be expressed with the state-space representation below.…”

Section: Degrees Of Freedom Of 3 Degrees Of Freedom Linear Modelmentioning

confidence: 99%

Optimization with Genetic Algorithm of Linear Quadratic Regulator Controller for Active Trailer Braking System

Karaşahin

Karali

2022

EJRnD

View full text Add to dashboard Cite

The necessity of active chassis control methods that can cope with the three typical unstable motion modes found in vehicle-trailer systems has emerged. Although there are studies aimed at preventing these instability situations mechanically, they cannot guarantee lateral stability. Active trailer braking system (ATBS) is used to solve this problem. In this study, a linear quadratic regulator (LQR) to be developed for the car-trailer system. The parameters of LQR are determined using the genetic algorithm (GA). The controller is developed in MATLAB/Simulink and experimentally validated in CarSim. It has been observed that the parameters to be determined by the genetic algorithm give better results than the parameters found by the trial-and-error method.

show abstract

A comparative study of control algorithms for active trailer steering systems of articulated heavy vehicles

Cited by 10 publications

References 9 publications

A rollover safety margin-based approach for quantifying the tractor-semitrailers’ emergency lane-changing response on expressway curves

A rollover safety margin-based approach for quantifying the tractor-semitrailers’ emergency lane-changing response on expressway curves

Lateral Stability Control of a Tractor-Semitrailer at High Speed

Optimization with Genetic Algorithm of Linear Quadratic Regulator Controller for Active Trailer Braking System

Contact Info

Product

Resources

About