Stability Control on Tractor Semi-Trailer during Split-Mu Braking

Abstract

Handling behaviour of articulated vehicles combination is more complex and less predictable than that of non-articulated vehicles. It is usually difficult for drivers to maneuver a tractor semi-trailer during high speed emergency braking on split-mu road surface. Braking on this type of road surface, the conventional anti-lock braking systems will cause the vehicle deviate from the desired direction, or overmuch stopping distance. In this paper, a 3-dof of tractor semi-trailer model was used to produce desired yaw rates which were compared with actual yaw rates. An active front steering control and four-channel ABS were integrated to improve the tractor semi-trailer lateral stability while braking on split-mu road surface, which will produce maximum braking force. A full function tractor semi-trailer model was built and assembled in multi-body dynamics software, and the dynamic analysis was performed on split-mu road surface. The simulation results show that the integrated system can improve the tractor semi-trailer lateral stability under braking on split-mu road surface.

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

“…The change of lane manoeuvre of the truck is chosen for studying the stability and steerability. 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.…”