A New Steering and Braking Control Strategy for Tractor Semi-Trailer Truck During a Critical Lane Change Maneuver

Document Type : Dynamics, Vibrations, and Control

Authors

1 Ph.D. Student, Faculty of Mechanical Engineering, Shahid Rajaee Teacher Training University, Tehran, Iran

2 Corresponding author: Associate Professor, Faculty of Mechanical Engineering, Shahid Rajaee Teacher Training University, Tehran, Iran

3 Associate Professor, Faculty of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran

Abstract

In this study, a new integrated control for the steering and braking of semi-trailer trucks for tracking in longitudinal and lateral combined maneuvers is proposed. For this purpose, a nonlinear model of a tractor semi-trailer with 10 degrees of freedom including the longitudinal, lateral and yaw motion of the tractor unit, the articulation angle and the rotational motion of each wheel is used. Then the active steering and braking controller is designed with the purpose of tracking and utilizing the sliding mode method. Also, for the yaw stability of the vehicle, a lateral stability controller is proposed using the sliding control method. Then, by utilizing multi-objective optimization, a new integrated control strategy is presented in order to optimally allocate the longitudinal and lateral forces of the tires. This strategy is designed based on achieving the purposes of tracking and stability by using the capacity of tire forces in the optimum slip range by using variable weight coefficients. In order to implement the integrated controller, the tractor semi-trailer model presented in the TruckSim software is used. The obtained results indicate the excellent performance of the integrated controller strategy designed for tracking by maintaining lateral stability when performing the lane change maneuver with braking. So, by using the proposed controller, the maximum tracking error of the longitudinal and lateral position, the yaw angle of the tractor and the articulation angle are equal to 1.83, 0.56, 4.42 and 9.53%, respectively. This is while in the case of a vehicle without a controller, due to lateral instability, the reference path is not tracked.

Highlights

  • Integrated controller design for tractor semi-trailer in order to track the maneuver path in high ‌speed and low friction conditions with lateral stability guarantee.‌
  • Optimal distribution of tire forces in order to use the maximum capacity of longitudinal and lateral forces using ‌multi-objective optimization.

Keywords

Smiley face

References

[1] Elhemly M, Fayed M, Elmaihy A. Tractor-semitrailer jackknifing elimination using semitrailer differential braking technique. International Journal of Heavy Vehicle Systems. 2013;20:19-34##.
[2] Brookhuis K, Waard D, Janssen W. Behavioural impacts of Advanced Driver Assistance Systems-an overview. European Journal of Transport and Infrastructure Research. 2001;1##.
[3] Benson AJ, Tefft BC, Svancara AM, Horrey. Potential reductions in crashes, injuries, and deaths from large-scale deployment of advanced driver assistance systems. 2018##.
[4] Tabatabaei Oreh SH, Kazemi R, Azadi S. A sliding-mode controller for directional control of articulated heavy vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2014;228(3):245-62##.
[5] Zong C, Zhu T, Wang C, Liu H. Multi-objective stability control algorithm of heavy tractor semi-trailer based on differential braking. Chinese journal of mechanical engineering. 2012;25(1):88-97##.
[6] Morrison G, Cebon D. Combined emergency braking and turning of articulated heavy vehicles. Vehicle system dynamics. 2017;55(5):725-49##.
[7] Bai Z, Lu Y, Li Y. Method of improving lateral stability by using additional yaw moment of semi-trailer. Energies. 2020;13(23):6317##.
[8] Shojaei S, Rahmani A, Azadi S, SAEEDI MA. Automated guided of articulated heavy vehicle in traffic situation by sliding-mode controller. Aerospace Mechanics Journal. 2020;16(2):1-14##.
[9] Shojaei S, Rahmani Hanzaki A, Azadi S, Saeedi MA. A novel decision-making unit for automated maneuver of articulated vehicles in real traffic situations. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2020;234(1):152-71##.
[10] Karimyan A, Rahmani A, Azadi S. Model predictive control design for a heavy articulated vehicle during critical lane change maneuver. Aerospace Mechanics Journal. 2020;16(2):39-53##.
[11] Abroshan M, Hajiloo R, Hashemi E, Khajepour A. Model predictive-based tractor-trailer stabilisation using differential braking with experimental verification. Vehicle system dynamics. 2021;59(8):1190-213##.
[12] Cai H, Xu X. Lateral Stability Control of a Tractor-Semitrailer at High Speed. Machines. 2022;10(8):716##.
[13] Deng ZW, Zhao QX, Zhao YQ, Wang BH, Gao W, Kong XX. Active LQR multi-axle-steering method for improving maneuverability and stability of multi-trailer articulated heavy vehicles. International journal of automotive technology. 2022;23(4):939-55##.
[14] Hou Y, Xu X. High-speed lateral stability and trajectory tracking performance for a tractor-semitrailer with active trailer steering. PloS one. 2022;17(11):e0277358##.
[15] Kati MS, Fredriksson J, Jacobson B, Laine L. A feedback-feed-forward steering control strategy for improving lateral dynamics stability of an A-double vehicle at high speeds. Vehicle system dynamics. 2022;60(11):3955-76##.
[16] Gaurkar PV, Ramakrushnan K, Challa A, Subramanian SC, Vivekanandan G, Sivaram S. An anti-lock braking system algorithm using real-time wheel reference slip estimation and control. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2022;236(4):676-88##.
[17] Zhao R, Li G, Yu B, Yang F. The brake pressure change rate in brake chamber and its online monitoring in semitrailer transport vehicle for dangerous cargo. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2023;237(6):1290-8##.
[18] Sharma T, He Y, Huang W. An Autonomous Steering Control Scheme for Articulated Heavy Vehicles Using-Model Predictive Control Technique. SAE Technical Paper. 2023. Report No.: 0148-7191##.
[19] Chokor A. Design of several centralized and decentralized multilayer robust control architectures for global chassis control: Compiègne; 2019##.
[20] Esmaeili N, Kazemi R, Tabatabaei Oreh SH. Design of a new integrated controller (braking and steering) to maintain the stability of a long articulated vehicle. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 2020;234(5):981-1013##.
[21] Karimyan A, Rahmani Hanzaki A, Azadi S. An integrated longitudinal and lateral control strategy for low friction conditions of tractor semi-trailer vehicles. Mechanics Based Design of Structures and Machines. 2023:1-38##.
[22] Mokhiamar O, Abe M. How the four wheels should share forces in an optimum cooperative chassis control. Control engineering practice 2006;14(3):295-304##.
[23] Yim S. Coordinated control with electronic stability control and active steering devices. Journal of Mechanical Science and Technology. 2015;29:5409-16##.
[24] McCormack RJ. TRUCKSIM-a log truck performance simulator. Journal of Forest Engineering. 1990;2(1):31-7##.
[25] Dugoff H. Tire performance characteristics affecting vehicle response to steering and braking control inputs. Final report. 1969##.
[26] Shtessel Y, Edwards C, Fridman L, Levant A. Sliding mode control and observation: Springer. 2014##.
[27] Li B, Rakheja S. Yaw stability enhancement of articulated commercial vehicles via gain-scheduling optimal control approach. SAE International Journal of Commercial Vehicles. 2017;10(2017-01-0437):275-82##.
[28] Chandrasekharan S. Development of a tractor-semitrailer roll stability control model: The Ohio State University; 2007##.
[29] Ervin R, Mallikarjunarao C. A study of the yaw stability of tractor-semitrailer combinations. Vehicle System Dynamics. 1981;10(2-3):102-6##.
[30] Zhang L, Yu L, Wang Z, Zuo L, Song J. All-wheel braking force allocation during a braking-in-turn maneuver for vehicles with the brake-by-wire system considering braking efficiency and stability. IEEE Transactions on Vehicular Technology. 2015;65(6):4752-67##.
[31] Abe M. Estimation of vehicle side-slip angle for DYC by using on-board tire model. Proc 4th International Symposium on Advanced Vehicle Control. 1998##.
[32] Shawky M. Factors affecting lane change crashes. IATSS research. 2020;44(2):155-61##.
Aerospace Mechanics
Volume 20, Issue 1 - Serial Number 75
Serial No. 75, Spring
April 2024
Pages 59-75

Files

History

  • Receive Date: 09 July 2023
  • Revise Date: 29 July 2023
  • Accept Date: 10 October 2023
  • Publish Date: 15 April 2024

Share

How to cite

Statistics