Safe operating envelope based on a single-track model for yaw instability avoidance of articulated heavy vehicles
Journal article, 2024

The electrification of commercial vehicles has led to new wheel torque allocation options for propulsion and braking of articulated heavy vehicles. Each unit or axle can be individually braked or propelled whilst the other units or axles are excluded from such action. This may achieve the best energy efficiency. However, this can also lead to potential yaw stability problems such as jackknifing and trailer swing, especially under bad loading and weather conditions. This paper describes the above instabilities and introduces a nonlinear single-track model to study the vehicle dynamics of the tractor-semitrailer combination. The effects of different vehicle and environment parameters are analysed with this vehicle model. A safe operating envelope for limiting the wheel forces is obtained using this vehicle model. Since the vehicle model introduced in this paper is computationally effective, it can be run online in real vehicles, with an instantaneous safe operating envelope obtained for the momentary conditions. Thus, yaw instabilities such as jackknifing and trailer swing may be avoided.

electric vehicle

jackknifing

safe operating envelope

trailer swing

Yaw instability

articulated heavy vehicle

Author

Umur Erdinc

Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems

Volvo Group

Mats Jonasson

Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems

Maliheh Sadeghi Kati

Volvo Group

Bengt J H Jacobson

Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems

Jonas Fredriksson

Chalmers, Electrical Engineering, Systems and control

Leo Laine

Volvo Group

Chalmers, Mechanics and Maritime Sciences (M2)

Vehicle System Dynamics

0042-3114 (ISSN) 1744-5159 (eISSN)

Vol. 62 8 2138-2161

Distributed Motion Control for Multi-Trailer Vehicles

FFI - Strategic Vehicle Research and Innovation (2020-05144), 2021-04-01 -- 2024-03-31.

Subject Categories

Other Mechanical Engineering

Control Engineering

Other Electrical Engineering, Electronic Engineering, Information Engineering

Areas of Advance

Transport

Infrastructure

ReVeRe (Research Vehicle Resource)

DOI

10.1080/00423114.2023.2276767

More information

Latest update

7/13/2024