Improving roll stability of articulated heavy vehicles using active semi-trailer steering

A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems, Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 50:5, 675-697, This paper presents a closed-loop dynamic simulation-based design method for articulated heavy vehicles (AHVs) with active trailer steering (ATS) systems. AHVs have poor manoeuvrability at low speeds and exhibit low lateral stability at high speeds. From the design point of view, there exists a trade-off relationship between AHVs' manoeuvrability and stability. For example, fewer articulation points and longer wheelbases will improve high-speed lateral stability, but they will degrade low-speed manoeuvrability. To tackle this conflicting design problem, a systematic method is proposed for the design of AHVs with ATS systems. In order to evaluate vehicle performance measures under a welldefined testing manoeuvre, a driver model is introduced and it 'drivers' the vehicle model to follow a prescribed route at a given speed. Considering the interactions between the mechanical trailer and the ATS system, the proposed design method simultaneously optimises the active design variables of the controllers and passive design variables of the trailer in a single design loop (SDL). Through the design optimisation of an ATS system for an AHV with a truck and a drawbar trailer combination, this SDL method is compared against a published two design loop method. The benchmark investigation shows that the former can determine better trade-off design solutions than those derived by the latter. This SDL method provides an effective approach to automatically implement the design synthesis of AHVs with ATS systems.

Section: Lqr Controller For Ats Systemsmentioning

confidence: 99%

Section: Vehicle Modelmentioning

confidence: 99%

A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems

Islam

Ding

2012

“…However, the system was not tested in an Human-MachineInterface (HMI) study, but the inventors aimed more for driver training over time than for an instantaneous warning system. Cheng and Cebon [11] began at the rear-end of the truck-trailer combination and improved the roll stability of an articulated heavy vehicle by means of active semi-trailer steering. A controller optimised the trade-off of path-tracking deviation of the semi-trailer rear-end and the lateral acceleration at its CoG.…”

Section: Introductionmentioning

confidence: 99%

Influencing driver chosen cornering speed by means of modified steering feel

Rothhämel

IJkema

Drugge

2013

This paper presents an investigation about influencing the driver's behaviour intuitively by means of modified steering feel. For a rollover indication through haptic feedback a model was developed and tested that returned a warning to the driver about too high vehicle speed. This was realised by modifying the experienced steering wheel torque as a function of the lateral acceleration. The hypothesis for this work was that drivers of heavy vehicles will perform with more margin of safety to the rollover threshold if the steering feel is altered by means of decreased or additionally increased steering wheel torque at high lateral acceleration. Therefore, the model was implemented in a test truck with active steering with torque overlay and used for a track test. Thirty-three drivers took part in the investigation that showed, depending on the parameter setting, a significant decrease of lateral acceleration while cornering.

“…Sideslip angle information is required by advanced driver assistance systems for passenger cars and several active safety technologies proposed for articulated heavy goods vehicles (HGVs), including active trailer steering, [1][2][3] electronic stability control [4,5] and emergency braking control. [6][7][8] Sideslip cannot be measured directly using standard inexpensive sensors, therefore it must be estimated based on other available sensor information.…”

Section: Introductionmentioning

confidence: 99%

“…longitudinal distance from front axle to whole mass CoG on tractor l 1r longitudinal distance from rear axle to whole mass CoG on tractor l 2aa longitudinal semitrailer axle spacing l 2r longitudinal distance from middle axle to whole mass CoG on semitrailer l ic longitudinal distance from hitch point to whole mass CoG on vehicle unit i m i whole mass of vehicle unit i m is sprung mass of vehicle unit i u i longitudinal velocity of vehicle unit i u w planar velocity of wheel C 1 lateral tyre stiffness C 2 longitudinal tyre stiffness…”

mentioning

confidence: 99%

Sideslip estimation for articulated heavy vehicles at the limits of adhesion

Morrison

Cebon

2016

Various active safety systems proposed for articulated heavy goods vehicles (HGVs) require an accurate estimate of vehicle sideslip angle. However in contrast to passenger cars, there has been minimal published research on sideslip estimation for articulated HGVs. Stateof-the-art observers, which rely on linear vehicle models, perform poorly when manoeuvring near the limits of tyre adhesion. This paper investigates three nonlinear Kalman filters (KFs) for estimating the tractor sideslip angle of a tractor-semitrailer. These are compared to the current state-of-the-art, through computer simulations and vehicle test data. An unscented KF using a 5 degrees-of-freedom single-track vehicle model with linear adaptive tyres is found to substantially outperform the state-of-the-art linear KF across a range of test manoeuvres on different surfaces, both at constant speed and during emergency braking. Robustness of the observer to parameter uncertainty is also demonstrated. ARTICLE HISTORY