Stability control of articulated vehicles using brake-based torque vectoring

Abstract

The stability of articulated vehicles is a growing concern due to the fact that transport is moving towards larger and longer truck and trailer combinations for better efficiency which may possibly lead to an increased number of safety risks. This study focuses on the yaw stability of articulated vehicles which include jack-knifing and snaking. The main steps that were taken in this study consist of developing a bicycle model and a simulation model built using MSC ADAMS. The simulation model is fully validated with experimental handling tests using a loaded trailer. This simulation model works with co-simulation through SIMULINK, and it is through this co-simulation that a simple controller is implemented. This controller uses yaw moment control that is achieved via brake-based torque vectoring and simulates the differential braking of the trailer. This study shows that a simple yaw moment control applied to the trailer can significantly improve the stability hence increasing the safety of articulated vehicles and reducing fatalities. This study highlights the possibilities this area of research has with great promise for future results.