Jackknife Control on Tractor Semi-Trailer during Emergency Braking

Abstract

Emergency braking on a low coefficient of friction or split-mu road surface, the semi-trailer may push the tractor from behind until it spins round and faces backwards, and a jackknife accident occurs. In this paper, the tractor semi-trailer kinematics was analyzed and a 3-dof of tractor semi-trailer model was used to design a state observer to estimate the articulation angle. To avoid a jackknife, the four-channel ABS which can produce maximum braking force will be switch to three-channel ABS according the estimated articulation angle. The virtual prototyping simulation results show that the jackknife control system can improve the tractor semi-trailer lateral stability under emergency braking and shorten the stop distance dramatically on split-mu road surface at high speed.

A Study of the Dynamic Parameters Influence over the Behavior of the Two-Section Articulated Vehicle during the Lane Change Manoeuvre

“…The adequacy of the model, was verified via previous investigations [11,12]. By natural experiments the changing of the angle of deviation of the steerable wheels is established as a sine form.…”

Advanced emergency braking under split friction conditions and the influence of a destabilising steering wheel torque

“…For the simulation the driver's target path was assumed to be a straight line in the centre of the lane. The measured speed was the basis of the inputs to the simulation, governing: the speed v X of the vehicle; the yaw moment M Z applied to the vehicle according to (5); and in the case of steering wheel disturbance, the torque M of f set applied to the steering wheel according to (7). The driver and vehicle model parameter values for the unexpected runs are given in Table 4.…”

“…This will cause the vehicle to pull sideways, primarily due to the induced overall yawing torque, and possibly roll-over. Trucks towing one or more trailers also risk jackknifing [7]. In the event of modest rotation the driver can steer and balance uneven braking forces.…”

Study on Tractor Semi-Trailer Roll Stability Control

“…Lateral instability phenomena will likely occur in tractor semi-trailers on high speed obstacle avoidance under emergency or during high speed curve driving. Yaw instability usually occurs on low adhesion surface and rollover occurs on a high adhesion surface [1][2][3].…”