SE1650840A1 - An articulated vehicle - Google Patents
An articulated vehicle Download PDFInfo
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- SE1650840A1 SE1650840A1 SE1650840A SE1650840A SE1650840A1 SE 1650840 A1 SE1650840 A1 SE 1650840A1 SE 1650840 A SE1650840 A SE 1650840A SE 1650840 A SE1650840 A SE 1650840A SE 1650840 A1 SE1650840 A1 SE 1650840A1
- Authority
- SE
- Sweden
- Prior art keywords
- articulation
- tag axle
- vehicle
- steering
- control unit
- Prior art date
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- 238000000034 method Methods 0.000 claims description 29
- 238000004590 computer program Methods 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 230000006399 behavior Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/02—Steering specially adapted for trailers for centrally-pivoted axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/02—Steering specially adapted for trailers for centrally-pivoted axles
- B62D13/025—Steering specially adapted for trailers for centrally-pivoted axles the pivoted movement being initiated by the coupling means between tractor and trailer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/04—Steering specially adapted for trailers for individually-pivoted wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D47/00—Motor vehicles or trailers predominantly for carrying passengers
- B62D47/02—Motor vehicles or trailers predominantly for carrying passengers for large numbers of passengers, e.g. omnibus
- B62D47/025—Motor vehicles or trailers predominantly for carrying passengers for large numbers of passengers, e.g. omnibus articulated buses with interconnecting passageway, e.g. bellows
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
- B62D53/08—Fifth wheel traction couplings
- B62D53/0871—Fifth wheel traction couplings with stabilising means, e.g. to prevent jack-knifing, pitching, rolling, buck jumping
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
An articulated vehicle (2) comprising an articulation joint (4), an articulation joint sensor member (6) configured to measure at least one articulation parameter representing the articulation state of the articulation joint, and to determine at least one articulation parameter value in dependence of the measurement. An actively controlled steerable tag axle (8) is provided being controlled by a tag axle control unit (10) which is configured to generate a tag axle steering control signal (12) including tag axle steering commands to be applied to the tag axle (8) in order to control the steering of said tag axle.The articulation joint sensor member (6) is configured to generate an articulation signal (14) that includes the at least one articulation parameter value, and that the tag axle control unit (10) is configured to receive said articulation signal (14), to analyze said articulation parameter value(s) in relation to a set of vehicle control rules and to determine said tag axle steering commands in dependence of the result of the analysis.
Description
An articulated vehicle Technical field The present disclosure relates to an articulated vehicle provided with a tag axlecontrol unit for controlling a steering angle of at least one pair of steerable wheelsarranged on tag axle, i.e. non-driven axle. The disclosure also relates to a methodfor improving maneuverability of such a vehicle. This invention is particularlysuitable for vehicles carrying relatively large loads due to their need for many loadcarrying wheels, such as e.g. trucks, semi-trailer trucks, buses, dumpers, haulers,and the like.
BackgroundVehicles adapted to transport large loads, such as trucks, semis, buses, dumpers, haulers, trailers often exert large pressure on the ground as a result of their weightwhen transporting a load. To handle this pressure, such vehicles often have aplurality of wheel pairs, which decreases the pressure each wheel has to transferto the ground. At least one pair of wheels is normally provided on a dead axle,which has no controls for steering. As these wheels are always straight, theyimpact the maneuverability of the vehicle, especially if more than one pair ofwheels is used. ln some vehicles with at least two non-steerable axles, one of thenon-steerable axles can be lifted to improve maneuverability of the vehicle.
To improve the maneuverability various types of steerable non-driven tag axlesare suggested. The steering of these axles is often related to the steering angle of the steering wheel.
Some articulated vehicles, e.g. articulated buses, are fitted with passively steeredtag axles that only are governed by what the driver does with the steering wheel.
Nowadays an increasing amount of vehicles is fitted with one or more electro-hydraulic steered tag axle(s) that have no physical connection to the front axle(s)enabling the tag axle to steer independently of the steered front axle(s). 2 Some articulated vehicles have an articulation control system (denoted ACS fromhere on) that monitors vehicle behavior and tries to implement correctivemeasures upon deviation from an expected behavior in order to maintain or regainvehicle stability.
Under some circumstances (e.g. patch of ice or other low friction condition) anarticulated vehicle, such as an articulated bus, will tend to come into an oversteersituation with the middle axle (axle number two seen from the front on a four axlevehicle fitted with one articulation). lf the bus is fitted with an ACS and the system is designed to maintain vehiclestability, this system will try to undertake corrective action in order to get thevehicle back to a stable situation but this will take more time with a passive tagaxle steering than with an actively steered unit.
The same reasoning may be applied for situations where the drive axle torquegenerates more “momentum” than what the available friction on the ground at themiddle axle (which is related to the contact forces between the tires and the roadsurface) can handle thus trying to jack-knife the articulation (i.e. the system willincrease the articulation angle more than is needed and wanted).
Sometimes the rear wagon on an articulated vehicle tends to be “tail happy”,calling for corrective action from the ACS in order to maintain vehicle stability.
All of the situations above would benefit from having a steered tag axle that wouldactively counter-steer the undesired direction of motion of the articulation joint inorder to shorten the time needed to regain a stable vehicle behavior in the stated examples. ln the following some documents within this technical field will be brieflydiscussed.
WO2015060752 concerns a wheel steering system for controlling a steering angleof a second pair of steerable wheels of a vehicle that is suitable for transporting aload. The vehicle comprises at least a first and a second pair of steerable wheelsand a first and second pair of non-steerable wheels. The wheel steering system 3 comprising a steering angle detection device for detecting at least one vehiclesteering angle, and control system configured to determine a steering geometry ofthe vehicle and to control the steering angle of at least each of the second pair ofsteerable wheels based on at least the at least one detected steering angle andthe determined steering geometry of the vehicle EP2025578 relates to a method of controlling the steering angle of a tag axle inorder to increase the stability of a vehicle. According to the method variousmeasurement values, e.g. lateral acceleration, are applied to determine thesteering angle.
US9187121 discloses a method for stabilizing a vehicle by steering an additionalaxle. ln one example is suggested to use measurement values from varioussensor to change the steering angle of the additional axle.
US8833504 relates to an apparatus for use in turning steerable vehicle wheelsupon manual rotation of a hand wheel that includes a torque sensor connectedwith a torque sensor and a rear steering gear.
And finally, 652515900 relates to an articulated vehicle provided with a steerabletag axle.
The object of the present invention is to achieve an improved control of anarticulated vehicle provided with a steerable tag axle, with regard to improvedsafety and stability.
SummaryThe above-mentioned object is achieved by the present invention according to the independent claims.
Preferred embodiments are set forth in the dependent claims.
The improvement lies in applying information reflecting the articulation state of thevehicle when controlling the steering of a tag axle of the vehicle. None of theabove-discussed prior art documents discloses a system or a method where thesafety and stablility of the vehicle is improved, e.g to avoid skid or jack-knife 4 situations, by controlling the steering of the tag axle dependent of the articulationstate, and independently e.g. of the steering angle of the front axle.
According to a first aspect the invention relates to an articulated vehiclecomprising an articulation joint, an articulation joint sensor member configured tomeasure at least one articulation parameter representing the articulation state ofthe articulation joint, and to determine at least one articulation parameter value independence of the measurement. ln addition an actively controlled steerable tagaxle is provided which is controlled by a tag axle control unit which is configuredto generate a tag axle steering control signal including tag axle steeringcommands to be applied to the tag axle in order to control the steering of said tagaxle. The articulation joint sensor member is configured to generate an articulationsignal that includes said at least one articulation parameter value, and that the tagaxle control unit is configured to receive said articulation signal, to analyze saidarticulation parameter value(s) in relation to a set of vehicle control rules and todetermine the tag axle steering commands in dependence of the result of the analysis.
According to a second aspect the invention relates to a method in an articulatedvehicle comprising an articulation joint, an articulation joint sensor member, anactively controlled steerable tag axle and a tag axle control unit which isconfigured to generate a tag axle steering control signal including tag axlesteering commands to be applied to the tag axle in order to control the steering ofthe tag axle.
The method comprises: - measuring, by the articulation joint sensor member, at least one articulationparameter representing the articulation state of the articulation joint, - determining at least one articulation parameter value in dependence of themeasurement, The method further comprises: - generating, by the articulation joint sensor member, an articulation signal thatincludes the at least one articulation parameter value, 5 - receiving, by the tag axle control unit, said articulation signal, - analyzing the articulation parameter value(s) in relation to a set of vehicle controlrules, - determining the tag axle steering commands in dependence of the result of theanalysis, and - controlling the tag axle steering by said tag axle steering commands. ln one advantageous implementation of the present invention the articulatedvehicle comprises an actively controlled articulation joint, and the activelycontrolled articulation joint and the tag axle are then both actively controlled independence of each other resulting in a further improved safety and stability.
Thus, the present invention aims to use a steerable tag axle actively on anarticulated vehicle fitted with such an axle in order to improve vehicle safety andstability such that the steered tag axle will be controlled to counter-steer anundesired state/motion of the articulation joint in order to make an undesiredstate/motion last as short as possible.
Brief description of the drawinqs Figure 1 is a schematic illustration of an articulated vehicle provided with featuresaccording to the present invention.
Figure 2 is a schematic block diagram illustrating an articulated vehicle accordingto the present invention.
Figure 3 is a schematic block diagram illustrating an articulated vehicle accordingto one embodiment of the present invention.
Figure 4 is flow diagram illustrating the steps of the method according to the present invention.
Detailed descriptionThe articulated vehicle, and the method, will now be described in detail with references to the appended figures. Throughout the figures the same, or similar,items have the same reference signs. l\/loreover, the items and the figures are not 6 necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
The present invention is applicable to any articulated vehicle provided with asteerable non-driven axle, herein denoted tag axle. ln particular the vehicle maybe a truck, a semi-trailer truck, a bus, a dumper, a hauler, and the like. ln figure 1 is illustrated an articulated vehicle 2 comprising an articulation joint 4and a tag axle 8 comprising two steerable wheels. ln the illustration the tag axle islocated behind the articulation joint, but the tag axle could also be located in frontof the joint. Sometimes it would be beneficial to have more than one tag axle, andthe present invention is also applicable to vehicles provided with more than onetag axle.
With references to the block diagram in figure 2 an articulation joint sensormember 6 is provided which is configured to measure at least one articulationparameter representing the articulation state of the articulation joint 4.
The sensor member 6 is any sensor applicable to measure an articulationparameter which preferably includes at least one or many of articulation angle,articulation angle speed, articulation angle acceleration, articulation damping.The articulation joint sensor member is further configured to determine at least one articulation parameter value in dependence of the measurement.
The articulated vehicle also comprises an actively controlled steerable tag axle 8controlled by a tag axle control unit 10. The tag axle control unit is configured togenerate a tag axle steering control signal 12 including tag axle steeringcommands to be applied to the tag axle 8 in order to control the steering of the tagaxle. The steering of the axle 8 is schematically indicated by arrows.
The articulation joint sensor member 6 is configured to generate an articulationsignal 14 that includes the at least one articulation parameter value, and the tagaxle control unit 10 is configured to receive the articulation signal 14. Preferablythe articulation signal is communicated via the CAN bus of the vehicle. 7 The tag axle control unit 10 is configured to analyze the articulation parametervalue(s) in relation to a set of vehicle control rules and to determine the tag axlesteering commands in dependence of the result of the analysis.
The set of vehicle control rules are preferably related to safety and stability of thevehicle. These may be arranged in a table where a specified articulation joint statecorresponds to a corresponding tag axle steering activity.
The tag axle steering commands may then be determined such that the tag axlesteering will counter-steer an undesired state/motion of the articulation joint 4 inorder to make the undesired state/motion last as short as possible.
The set of vehicle control rules includes various basic facts of the vehicle, i.e. thenumber of axles, the position of the steerable tag axle in relation to the articulationjoint (i.e. in front of or behind the articulation joint), the type of articulation joint,etc.
The articulation joint angle direction (left/right) and the articulation joint anglevalue will then be related to a tag axle steering direction (left/right) and steeringangle value.
As an example, if the vehicle is turning left, the joint angle direction is then “left”and the articulation joint angle value is e.g. 20 degrees, which may result in a “1 Odegree right” steering command is applied to the tag axle.
By applying the vehicle control rules the control of the tag axle steering (e.g.implemented by an electro-hydraulically steered tag axle) the articulation joint isprotected against unwanted situations and the vehicle stability is therebyimproved. An unwanted situation, e.g. a skid, is counter-acted by applying acertain steering angle at the tag axle such that the articulation joint will return to itsdesired set value. This may in some situations involve having an opposite directedsteering of the tag axle in comparison to the steering direction of the steered frontaxle(s). 8 The tag axle control unit 10 may further be configured to receive one or manyvehicle state parameter values being one or many of steering wheel angle, yawrate, lateral acceleration, vehicle speed, wheel speeds, engine torque, and toapply one or many of these values in when performing the analysis. ln one advantageous application the articulation joint 4 is an actively controlledarticulation joint. This embodiment will now be described with references to figure3. ln this embodiment the articulated vehicle also comprises an articulation controlunit 16 that is configured to monitor vehicle behavior, e.g. by receiving thearticulation signal 14, and also one or many of the steering wheel angle, the yawrate, the lateral acceleration, the vehicle speed, the wheel speeds, and the enginetorque.
The articulation control unit 16 is configured to determine a deviation value as ameasure of a deviation from an expected behavior. The articulation control unit isfurther configured to evaluate the determined deviation value in relation to a set ofdeviation rules and to determine at least one corrective measure in dependenceof the result of the evaluation. The purpose of the corrective measure(s) is tomaintain or regain vehicle stability, and may be to dampen the articulation aroundthe joint.
The articulation control unit 16 is configured to generate at least one articulationcontrol signal 18 including articulation control parameters, being determined toimprove vehicle stability, and to apply the control parameters to the articulationsystem of the vehicle.
Thus, in one further embodiment the actively controlled articulation joint 4 asdescribed above and the actively controlled tag axle 8 are combined resulting in astill faster reaction in various situations in order to regain stability of the vehicle.
The invention further relates to a method in an articulated vehicle which will bedescribed with references to the flow diagram shown in figure 4, but also inrelation to the above description of the articulated vehicle. 9 Thus, the articulated vehicle comprises an articulation joint, an articulation jointsensor member, an actively controlled steerable tag axle and a tag axle controlunit which is configured to generate a tag axle steering control signal including tagaxle steering commands to be applied to the tag axle in order to control thesteering of said tag axle.
The method comprises measuring, by the articulation joint sensor member, atleast one articulation parameter representing the articulation state of thearticulation joint, and determining at least one articulation parameter value independence of the measurement.
The method further comprises generating, by the articulation joint sensor member,an articulation signal that includes the at least one of articulation parameter value,and receiving, by said the tag axle control unit, the articulation signal.
The tag axle control unit then analyzes the articulation parameter value(s) inrelation to a set of vehicle control rules, and is further configured to perform thesteps of determining the tag axle steering commands in dependence of the resultof the analysis, and controlling the tag axle steering by said tag axle steeringcommands. The vehicle control rules are discussed above.
The set of vehicle control rules are related to safety and stability of the vehicle.Preferably, the method further comprises determining the tag axle steeringcommands such that the tag axle steering will aid by counter-steering anundesired state/motion of the articulation joint of the vehicle in order to make theundesired situation last as short as possible.
The method advantageously comprises measuring by the articulation joint sensormember one or many of an articulation angle, articulation angle speed, articulationangle acceleration, articulation damping.
As discussed above, according to one embodiment the articulation joint is anactively controlled articulation joint, and in one embodiment the method comprisescontrolling the actively controlled articulation joint in combination with the actively lO controlled tag axle, as described herein, in order to achieve a vehicle capable ofregaining stablity faster.
Advantageously the method comprises receiving, by the tag axle control unit, oneor many vehicle state parameter values being one or many of steering wheelangle, yaw rate, lateral acceleration, vehicle speed, wheel speeds, engine torque,and applying one or many of the values in the analysis. ln some type of articulation control systems e.g. the articulation joint damping willbe controlled, e.g. increased, and also the engine output be controlled. This maybe the situation in so-called jack-knife situations. During rear wagon movement outside acceptable ranges the articulation joint damping will initially be increased and then decreased until the joint movement speed is below a set threshold value.
Actively steered tag axles are known, e.g. so-called electro-hydraulic steered tagaxle(s) (EST) in order to increase the vehicle stability.
The intention of the tag axle control system according to the present invention isto improve the protection of the articulation joint in order to improve and maintainthe vehicle stability by, if necessary, controlling the tag axle steering angle(consider it as preventing skid by using the tag axle) such that the articulation jointangle easier, faster, and safer returns to its set value.
The active tag axle steering may result in a change of sign (direction) of the tagaxle steering angle in relation to the steering wheel angle. Thus, the tag axlesteering is independent of steering of the steering wheel.
The present invention also relates to computer program P (see figures 2 and 3)the comprises a computer program code to cause a tag axle control unit 10, or acomputer connected to the control unit 10, to perform the method describedabove with references to the flow diagram in figure 4. ln addition is provided acomputer program product comprising a computer program code stored on acomputer-readable medium to perform the method described above, when the ll computer program code is executed by a tag axle control unit 10 or by a computerconnected to the control unit 10.
More in detail, the vehicle 2 includes a tag axle control unit 10 that includes aprocessing unit and a memory unit. The processing unit may be made up of oneor more Central Processing Units (CPU). The memory unit may be made up ofone or more memory units. A memory unit may include a volatile and/or a non-volatile memory, such as a flash memory or Random Access l\/lemory (RAIVI). Thetag axle control unit 10 further includes a computer program P including acomputer program code to cause the tag axle control unit 10, or a computerconnected to the tag axle control unit 10, to perform any of the method stepsdescribed herein. The control unit 10 may be an Electronic Control Unit (ECU).
The vehicle 2 communicates internally between its units, devices, sensors,detectors etc. via a communication bus, for example a CAN-bus (Controller AreaNetwork), which uses a message based protocol, or a LlN-bus (Local InterconnectNetwork). Examples of other communication protocols that may be used are TTP(Time-Triggered Protocol), Flexray, etc. ln that way signals and data describedherein may be exchanged between different units, devices, sensors and/ordetectors in the vehicle 2. Signals and data may instead be transferred wirelesslybetween the different units, devices, sensors and/or detectors.
The present invention is not limited to the above-described preferredembodiments. Various alternatives, modifications and equivalents may be used.Therefore, the above embodiments should not be taken as limiting the scope of the invention, which is defined by the appending claims.
Claims (14)
1. An articulated vehicle (2) comprising an articulation joint (4), anarticulation joint sensor member (6) configured to measure at least onearticulation parameter representing the articulation state of the articulation joint,and to determine at least one articulation parameter value in dependence of themeasurement, and an actively controlled steerable tag axle (8) controlled by a tag axle control unit(10) which is configured to generate a tag axle steering control signal (12)including tag axle steering commands to be applied to the tag axle (8) in order tocontrol the steering of said tag axle, c h a r a c t e r i z e d in that the articulation joint sensor member (6) isconfigured to generate an articulation signal (14) that includes said at least onearticulation parameter value, and that the tag axle control unit (10) is configured toreceive said articulation signal (14), to analyze said articulation parametervalue(s) in relation to a set of vehicle control rules and to determine said tag axle steering commands in dependence of the result of the analysis.
2. The articulated vehicle (2) according to claim 1, wherein said set of vehicle control rules are related to safety and stability of the vehicle.
3. The articulated vehicle (2) according to claim 1 or 2, wherein the tagaxle steering commands are determined such that the tag axle steering willcounter-steer an undesired state/motion of the articulation joint (4) of the vehiclein order to make the undesired state/motion last as short as possible.
4. The articulated vehicle (2) according to any of claims 1-3, wherein thearticulation joint sensor member (6) is configured to measure at least one or manyof an articulation angle, articulation angle speed, articulation angle acceleration,articulation damping.
5. The articulated vehicle (2) according to any of claims 1-4, wherein said articulation joint (4) is an actively controlled articulation joint. 13
6. The articulated vehicle (2) according to any of claims 1-5, whereinsaid tag axle control unit (10) is configured to receive one or many vehicle stateparameter values being one or many of steering wheel angle, yaw rate, lateralacceleration, vehicle speed, wheel speeds, engine torque, and to apply one or many of said values in said analysis.
7. A method in an articulated vehicle comprising an articulation joint, anarticulation joint sensor member, an actively controlled steerable tag axle and atag axle control unit which is configured to generate a tag axle steering controlsignal including tag axle steering commands to be applied to the tag axle in orderto control the steering of said tag axle, wherein the method comprises: - measuring, by said articulation joint sensor member, at least one articulationparameter representing the articulation state of the articulation joint, - determining at least one articulation parameter value in dependence of themeasurement, c h a r a c t e r i z e d in that the method further comprises: - generating, by the articulation joint sensor member, an articulation signal thatincludes said at least one articulation parameter value, - receiving, by said the tag axle control unit, said articulation signal, - analyzing said articulation parameter value(s) in relation to a set of vehiclecontrol rules, - determining said tag axle steering commands in dependence of the result of theanalysis, and - controlling said tag axle steering by said tag axle steering commands.
8. The method according to claim 7, wherein said set of vehicle controlrules are related to safety and stability of the vehicle.
9. The method according to claim 7 or 8, comprising determining the tagaxle steering commands such that the tag axle steering will aid by counter-steering an undesired state/motion of the articulation joint of the vehicle in order to 14 make the undesired situation last as short as possible.
10. The method according to any of claims 7-9, comprising measuring bythe articulation joint sensor member one or many of an articulation angle, articulation angle speed, articulation angle acceleration, articulation damping.
11. The method according to any of claims 7-10, wherein said articulation joint is an actively controlled articulation joint.
12. The method according to any of claims 7-11, comprising receiving, bysaid tag axle control unit, one or many vehicle state parameter values being oneor many of steering wheel angle, yaw rate, lateral acceleration, vehicle speed,wheel speeds, engine torque, and applying one or many of said values in said analysis.
13. A computer program P, wherein said computer program P comprisesa computer program code to cause a tag axle control unit (10), or a computerconnected to said control unit (10), to perform the method according to any of claims 7-12.
14. A computer program product comprising a computer program codestored on a computer-readable medium to perform the method according to any ofthe claims 7-12, when said computer program code is executed by a tag axle control unit (10) or by a computer connected to said control unit (10).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1650840A SE541031C2 (en) | 2016-06-15 | 2016-06-15 | Articulated vehicle comprising tag axle arranged to be steered based on an articulation joint sensor |
| DE102017005456.8A DE102017005456B4 (en) | 2016-06-15 | 2017-06-08 | Articulated vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1650840A SE541031C2 (en) | 2016-06-15 | 2016-06-15 | Articulated vehicle comprising tag axle arranged to be steered based on an articulation joint sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| SE1650840A1 true SE1650840A1 (en) | 2017-12-16 |
| SE541031C2 SE541031C2 (en) | 2019-03-12 |
Family
ID=60481166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE1650840A SE541031C2 (en) | 2016-06-15 | 2016-06-15 | Articulated vehicle comprising tag axle arranged to be steered based on an articulation joint sensor |
Country Status (2)
| Country | Link |
|---|---|
| DE (1) | DE102017005456B4 (en) |
| SE (1) | SE541031C2 (en) |
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| SE1951490A1 (en) * | 2019-12-18 | 2021-06-19 | Bae Systems Haegglunds Ab | Method and control device for controlling driving operation of an articulated tracked vehicle |
| SE1951491A1 (en) * | 2019-12-18 | 2021-06-19 | Bae Systems Haegglunds Ab | Method and control device for controlling driving operation of an articulated tracked vehicle |
| WO2022216199A1 (en) | 2021-04-08 | 2022-10-13 | Scania Cv Ab | Control device and method for controlling a tag axle steering system |
| WO2023043356A1 (en) | 2021-09-20 | 2023-03-23 | Scania Cv Ab | Control device and method for controlling a tag axle steering system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974121A (en) * | 2018-06-20 | 2018-12-11 | 安徽酷哇机器人有限公司 | The steering automation detection and control system on radial type movement chassis |
| US20230082801A1 (en) * | 2020-02-11 | 2023-03-16 | Volvo Truck Corporation | A control architecture for a self-powered dolly vehicle |
| SE2251013A1 (en) | 2022-09-01 | 2024-03-02 | Scania Cv Ab | Control device and method for reducing possible side pull of a vehicle |
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| FR2834495B1 (en) | 2002-01-10 | 2004-06-18 | Kuhn Nodet Sa | PROCESS FOR PLACING THE WHEELS OF A TRAILER IN THE WAKE OF THE WHEELS OF A TRACTOR MACHINE, AND DEVICE FOR IMPLEMENTING THIS PROCESS |
| US8833504B2 (en) | 2005-12-02 | 2014-09-16 | Trw Automotive U.S. Llc | Steering apparatus |
| DE102006037588B4 (en) | 2006-08-11 | 2011-04-14 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method for the automatic or semi-automatic tracking-accurate multi-axle steering of a road vehicle and apparatus for carrying out the method |
| DE102007038575B4 (en) | 2007-08-16 | 2016-05-19 | Wabco Gmbh | Method for adjusting a steering angle of an electronically steered axle of a commercial vehicle |
| DE102007061835A1 (en) | 2007-12-20 | 2009-06-25 | Daimler Ag | Towing vehicle and trailer/semi-trailer combination stabilizing method, involves signaling warnings to driver, if actual angle lies outside permissible angle range and within extended angle range |
| DE102011120667A1 (en) | 2011-12-09 | 2013-06-13 | Wabco Gmbh | Driving stabilization method, Fahrstabbilisierungseinrichtung and vehicle with it |
| EP3060453B1 (en) | 2013-10-21 | 2018-09-26 | Volvo Truck Corporation | A wheel steering system for controlling a steering angle of a second pair of steerable wheels of a vehicle |
| GB2515900A (en) | 2014-05-21 | 2015-01-07 | Daimler Ag | Swivel joint for an articulated vehicle, in particular an articulated bus |
-
2016
- 2016-06-15 SE SE1650840A patent/SE541031C2/en unknown
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- 2017-06-08 DE DE102017005456.8A patent/DE102017005456B4/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE1951490A1 (en) * | 2019-12-18 | 2021-06-19 | Bae Systems Haegglunds Ab | Method and control device for controlling driving operation of an articulated tracked vehicle |
| SE1951491A1 (en) * | 2019-12-18 | 2021-06-19 | Bae Systems Haegglunds Ab | Method and control device for controlling driving operation of an articulated tracked vehicle |
| WO2021126054A1 (en) * | 2019-12-18 | 2021-06-24 | BAE Systems Hägglunds Aktiebolag | Method and control device for controlling driving operation of an articulated tracked vehicle |
| WO2021126053A1 (en) * | 2019-12-18 | 2021-06-24 | BAE Systems Hägglunds Aktiebolag | Method and control device for controlling driving operation of an articulated tracked vehicle |
| SE543790C2 (en) * | 2019-12-18 | 2021-07-20 | Bae Systems Haegglunds Ab | Method and control device for controlling driving operation of an articulated tracked vehicle |
| SE543795C2 (en) * | 2019-12-18 | 2021-07-27 | Bae Systems Haegglunds Ab | Method and control device for controlling driving operation of an articulated tracked vehicle |
| CN115023388A (en) * | 2019-12-18 | 2022-09-06 | 贝以系统哈格伦斯公司 | Method and control device for controlling the driving operation of an articulated tracked vehicle |
| WO2022216199A1 (en) | 2021-04-08 | 2022-10-13 | Scania Cv Ab | Control device and method for controlling a tag axle steering system |
| WO2023043356A1 (en) | 2021-09-20 | 2023-03-23 | Scania Cv Ab | Control device and method for controlling a tag axle steering system |
| DE112022004489T5 (en) | 2021-09-20 | 2024-08-08 | Scania Cv Ab | Control device and method for controlling a trailing axle steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102017005456B4 (en) | 2021-08-26 |
| DE102017005456A1 (en) | 2017-12-21 |
| SE541031C2 (en) | 2019-03-12 |
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