Worst-Case Vehicle Evaluation Methodology ? Examples on Truck Rollover/Jackknifing and Active Yaw Control Systems

Hou, Wenfu; Peng, Huei

doi:10.1076/vesd.32.4.389.2076

Cited by 27 publications

(29 citation statements)

References 12 publications

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“…Nowadays, many trucks manufacturers provide an ABS as well as other braking enhancements. In our case, we will augment our model with an ABS and a yaw control system in a fashion similar to that described in Ma and Peng (1999). Specifically, the brake pressure is determined via the following law:…”

Section: The Brake Modelmentioning

confidence: 99%

Modelling and control of the sliding kingpin anti-jackknife device

Koussoulas

Manesis

2012

IJVSMT

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Jackknifing is a major cause of disasters in traffic accidents involving articulated trucks. In this work, we examine a tractor/semi-trailer combination that is equipped with a device which allows the kingpin junction to slide along the rear tractor axle. While braking, the articulated vehicle behaves much like an inverted pendulum moving on the horizontal plane. Control of the sliding kingpin motion allows us to stabilise the semi-trailer by compensating for its every deviation away from the nominal position. A simple proportional-derivative (PD) control law proved adequate for a wide variation of road conditions for straight line braking.

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Section: The Brake Modelmentioning

confidence: 99%

Modelling and control of the sliding kingpin anti-jackknife device

Koussoulas

Manesis

2012

IJVSMT

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“…There were several approaches to obtain the Nash equilibrium solution to a differential game such as the numerical optimal control [6], the multi-level programming, etc. The numerical optimal control approach is hard to apply to this type of problem because the vehicle system is non-linear, and the equations of motions for a vehicle system are highly complicated [10].…”

Section: ( )mentioning

confidence: 99%

“…To design a controller that guarantees the worst-case performance, the differential game theory based approach was proposed [6,7]. This approach designed a controller for a linear system with a two-player preview game.…”

Section: Introductionmentioning

confidence: 99%

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Design of a rollover prevention controller with differential game theory and a coevolutionary genetic algorithm

Yim

2011

J Mech Sci Technol

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This paper presents a method for designing a rollover prevention controller with differential game theory and a coevolutionary genetic algorithm. In rollover situations, a driver's steering input tends to make vehicles roll over. On the other hand, an active anti-roll bar can prevent the rollover. This situation can be modeled as a non-cooperative zero-sum two-player differential game. If an equilibrium solution to the differential game is obtained, it is guaranteed that the active anti-roll bar can prevent the rollover, even with the worst-case steering input. To obtain an equilibrium solution, this study presents a coevolutionary genetic algorithm. To show the effectiveness of this solution, simulations are performed on a vehicle simulation package, CarSim ® .

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“…With the initialization input, the system matrices (i.e. A and B) for the state-space equations as shown in equation (4) can be calculated, and the vehicle model is constructed as illustrated in the vehicle simulation block in Figure 2. With the current driving input from the driver model, the ordinary differential equations (ODEs) can be solved using the selected numerical solver (e.g.…”

Section: -Dof Modelmentioning

confidence: 99%

A comparative study of multi-trailer articulated heavy-vehicle models

Islam

Zhu

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper provides valuable guidelines on the selection of dynamic vehicle models for control algorithm development, design optimization and linear stability analysis for multi-trailer articulated heavy vehicles with active safety systems. The validation of yaw-plane and yaw-roll models of a tractor-two-semitrailer combination using the TruckSim software package is presented in this paper. A linear four-degree-of-freedom yaw-plane model and a linear seven-degree-of-freedom yaw-roll model of the vehicle were generated, compared and evaluated. The linear models of the multi-trailer articulated heavy vehicle yield numerical simulation results which are validated by comparing with those obtained from the corresponding non-linear TruckSim model. This paper also includes eigenvalue and frequency-response analysis of the linear models to estimate the unstable motion modes and to predict the unique dynamic features of the multi-trailer articulated heavy vehicle in the frequency domain. A benchmark investigation of the models was performed to examine the fidelity, the complexity and the applicability of the linear models.

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Worst-Case Vehicle Evaluation Methodology ? Examples on Truck Rollover/Jackknifing and Active Yaw Control Systems

Cited by 27 publications

References 12 publications

Modelling and control of the sliding kingpin anti-jackknife device

Modelling and control of the sliding kingpin anti-jackknife device

Design of a rollover prevention controller with differential game theory and a coevolutionary genetic algorithm

A comparative study of multi-trailer articulated heavy-vehicle models

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