Semitrailer Steering Control for Improved Articulated Vehicle Manoeuvrability and Stability

Milani, Sina; Ünlüsoy, Y. Samim; Marzbani, Hormoz; Jazar, Reza N.

doi:10.1515/nleng-2018-0124

Cited by 8 publications

(7 citation statements)

References 13 publications

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“…Therefore, a dynamic model is required rather than a simple kinematic model. Based on this, the chosen articulated vehicle model (AVM) is a linear single-track three-degrees-of-freedom bicycle model, which includes the lateral and yaw dynamics of the tractor and the trailer and their coupling dynamics [20,31] (Figure 1a).…”

Section: Articulated Vehicle Modelmentioning

confidence: 99%

“…where C a f (=252,000 N/rad), C ar (=236,000 N/rad), and C at (=263,500 N/rad) are the cornering stiffnesses of the front tractor, rear tractor, and trailer axle, respectively; α f , α r , and α t are the sideslip angles of the corresponding axles. Assuming small angles, the sideslip angles (α f , α r , and α t ) can be reformulated [20,31]:…”

Section: Articulated Vehicle Modelmentioning

confidence: 99%

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Reducing Tyre Wear Emissions of Automated Articulated Vehicles through Trajectory Planning

Papaioannou,

Maroof,

Jerrelind

et al. 2024

Sensors

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Effective emission control technologies and eco-friendly propulsion systems have been developed to decrease exhaust particle emissions. However, more work must be conducted on non-exhaust traffic-related sources such as tyre wear. The advent of automated vehicles (AVs) enables researchers and automotive manufacturers to consider ways to further decrease tyre wear, as vehicles will be controlled by the system rather than by the driver. In this direction, this work presents the formulation of an optimal control problem for the trajectory optimisation of automated articulated vehicles for tyre wear minimisation. The optimum velocity profile is sought for a predefined road path from a specific starting point to a final one to minimise tyre wear in fixed time cases. Specific boundaries and constraints are applied to the problem to ensure the vehicle’s stability and the feasibility of the solution. According to the results, a small increase in the journey time leads to a significant decrease in the mass loss due to tyre wear. The employment of articulated vehicles with low powertrain capabilities leads to greater tyre wear, while excessive increases in powertrain capabilities are not required. The conclusions pave the way for AV researchers and manufacturers to consider tyre wear in their control modules and come closer to the zero-emission goal.

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Section: Articulated Vehicle Modelmentioning

confidence: 99%

Section: Articulated Vehicle Modelmentioning

confidence: 99%

Reducing Tyre Wear Emissions of Automated Articulated Vehicles through Trajectory Planning

Papaioannou,

Maroof,

Jerrelind

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…Yaw rate was selected as an observing parameter which reflects the lateral stability of the vehicle [20,21]. Quantum particle optimization (QPO) method was used in the predictive controller with yaw rate and front wheel steering angles [29]. Steering wheel angle, vehicle lateral and longitudinal accelerations, vehicle speed and yaw rate are the parameters which were observed during the simulations.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Advanced Emergency Braking on Combined Road Friction Coefficients

Şahin

2024

International Journal of Automotive Science and Technology

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In this study, an Advanced Emergency Braking System (AEBS) is adopted to the combined road friction coefficients by proposing an emergency steering maneuver. AEBS is one of the significant driver assistant systems to avoid rear-end collisions. However, in special cases, such as the sudden decrease of road friction coefficient during braking, AEBS may work with the autonomous emergency steering systems to prevent inevitable rear-end collisions. The originality of this study arises from the necessity of the adaptation of the AEBS to work in cooperation with the autonomous emergency steering systems. A predictive controller was used to support the emer-gency braking maneuver with an autonomous steering maneuver via observing the yaw rate of the vehicle. The predictive controller was developed in MATLAB/Simulink interface and then applied into the IPG/CarMaker environment. The results proved that the predictive controller maintained the vehicle lateral stability without causing any type of collisions.

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“…It is possible to obtain valuable information about an investi-gated subject in relatively short time. In this work, the investigation undertaken concerns the driving stability of a vehicle-trailer combination that is exposed to various effects, such as different roadway surface qualities, load distributions, driving speeds and other parameters [1,4].…”

Section: Introductionmentioning

confidence: 99%

Investigation of Driving Stability of a Vehicle–Trailer Combination Depending on the Load’s Position Within the Trailer

Dižo

Blatnický

Dróździel

et al. 2023

Acta Mechanica Et Automatica

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Passenger cars are a means of transportation used widely for various purposes. The category that a vehicle belongs to is largely responsible for determining its size and storage capacity. There are situations when the capacity of a passenger vehicle is not sufficient. On the one hand, this insufficient capacity is related to a paucity in the space needed for stowing luggage. It is possible to mount a rooftop cargo carrier or a roof basket on the roof of a vehicle. If a vehicle is equipped with a towbar, a towbar cargo carrier can be used for improving its space capacity. These accessories, however, offer limited additional space, and the maximal load is determined by the maximal payload of the concerned vehicle. If, on the other hand, there is a requirement for transporting a load with a mass or dimensions that are greater than what could be supported using these accessories, then, provided the vehicle is equipped with a towbar, a trailer represents an elegant solution for such demanding requirements. A standard flat trailer allows the transportation of goods of various characters, such as goods on pallets, bulk material, etc. However, the towing of a trailer changes the distribution of the loads, together with changes of loads of individual axes of the vehicle–trailer axles. The distribution of the loads is one of the key factors affecting the driving properties of a vehicle–trailer combination in terms of driving stability, which is mainly a function of the distribution of the load on the trailer. This research introduces a study into how the distribution of the load on a trailer influences the driving stability of a vehicle–trailer combination. The research activities are based on simulation computations performed in a commercial multibody software. While the results presented in the article are reached for a particular vehicle–trailer combination as well as for a particular set of driving conditions, the applicability of the findings can also be extended more generally to the impact that the load distributions corresponding to various vehicle–trailer combinations have on the related parameters and other driving properties.

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Semitrailer Steering Control for Improved Articulated Vehicle Manoeuvrability and Stability

Cited by 8 publications

References 13 publications

Reducing Tyre Wear Emissions of Automated Articulated Vehicles through Trajectory Planning

Reducing Tyre Wear Emissions of Automated Articulated Vehicles through Trajectory Planning

Adaptive Advanced Emergency Braking on Combined Road Friction Coefficients

Investigation of Driving Stability of a Vehicle–Trailer Combination Depending on the Load’s Position Within the Trailer

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