Safe operating envelope for limiting actuation of electric trailer in tractor-semitrailer combination

Paper i proceeding, 2022

This paper shows how a safe operating envelope based on simulated data can be implemented in an allocation-type control system for a two-unit heavy vehicle. The vehicle in focus is a tractor semi-trailer combination for which firstly safe driving conditions are defined and then control laws and systems are designed with respect to set safe driving conditions. The proposed system is evaluated in a simulation environment and is verified to, during some typical use cases, avoid violating the definitions of safe driving while also minimizing energy losses with regard to some actuation prioritization laws. The system is constructed in a modular way which allows for changes in vehicle configurations and changes in specifications of installed actuators.