SE541031C2 - Articulated vehicle comprising tag axle arranged to be steered based on an articulation joint sensor - Google Patents
Articulated vehicle comprising tag axle arranged to be steered based on an articulation joint sensorInfo
- Publication number
- SE541031C2 SE541031C2 SE1650840A SE1650840A SE541031C2 SE 541031 C2 SE541031 C2 SE 541031C2 SE 1650840 A SE1650840 A SE 1650840A SE 1650840 A SE1650840 A SE 1650840A SE 541031 C2 SE541031 C2 SE 541031C2
- Authority
- SE
- Sweden
- Prior art keywords
- articulation
- tag axle
- steering
- vehicle
- articulation joint
- Prior art date
Links
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 28
- 238000004590 computer program Methods 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 6
- 230000001419 dependent effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000006399 behavior Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication 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
- 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
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Articulated vehicle comprising tag axle arranged to be steered based on an articulation joint sensor Technical field The present disclosure relates to an articulated vehicle provided with a tag axle control unit for controlling a steering angle of at least one pair of steerable wheels arranged on tag axle, i.e. non-driven axle. The disclosure also relates to a method for improving maneuverability of such a vehicle. This invention is particularly suitable for vehicles carrying relatively large loads due to their need for many load carrying wheels, such as e.g. trucks, semi-trailer trucks, buses, dumpers, haulers, and the like.
Background Vehicles 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 weight when transporting a load. To handle this pressure, such vehicles often have a plurality of wheel pairs, which decreases the pressure each wheel has to transfer to 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, they impact the maneuverability of the vehicle, especially if more than one pair of wheels is used. In some vehicles with at least two non-steerable axles, one of the non-steerable axles can be lifted to improve maneuverability of the vehicle.
To improve the maneuverability various types of steerable non-driven tag axles are 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 steered tag 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 electrohydraulic 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).
Some articulated vehicles have an articulation control system (denoted ACS from here on) that monitors vehicle behavior and tries to implement corrective measures upon deviation from an expected behavior in order to maintain or regain vehicle stability.
Under some circumstances (e.g. patch of ice or other low friction condition) an articulated vehicle, such as an articulated bus, will tend to come into an oversteer situation with the middle axle (axle number two seen from the front on a four axle vehicle fitted with one articulation).
If the bus is fitted with an ACS and the system is designed to maintain vehicle stability, this system will try to undertake corrective action in order to get the vehicle back to a stable situation but this will take more time with a passive tag axle steering than with an actively steered unit.
The same reasoning may be applied for situations where the drive axle torque generates more “momentum” than what the available friction on the ground at the middle axle (which is related to the contact forces between the tires and the road surface) can handle thus trying to jack-knife the articulation (i.e. the system will increase 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 would actively counter-steer the undesired direction of motion of the articulation joint in order to shorten the time needed to regain a stable vehicle behavior in the stated examples.
In the following some documents within this technical field will be briefly discussed.
WO2015060752 concerns a wheel steering system for controlling a steering angle of a second pair of steerable wheels of a vehicle that is suitable for transporting a load. The vehicle comprises at least a first and a second pair of steerable wheels and a first and second pair of non-steerable wheels. The wheel steering system comprising a steering angle detection device for detecting at least one vehicle steering angle, and control system configured to determine a steering geometry of the vehicle and to control the steering angle of at least each of the second pair of steerable wheels based on at least the at least one detected steering angle and the determined steering geometry of the vehicle EP2025578 relates to a method of controlling the steering angle of a tag axle in order to increase the stability of a vehicle. According to the method various measurement values, e.g. lateral acceleration, are applied to determine the steering angle.
US9187121 discloses a method for stabilizing a vehicle by steering an additional axle. In one example is suggested to use measurement values from various sensor to change the steering angle of the additional axle.
US8833504 relates to an apparatus for use in turning steerable vehicle wheels upon manual rotation of a hand wheel that includes a torque sensor connected with a torque sensor and a rear steering gear.
And finally, GB2515900 relates to an articulated vehicle provided with a steerable tag axle.
The object of the present invention is to achieve an improved control of an articulated vehicle provided with a steerable tag axle, with regard to improved safety and stability.
Summary The 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 the vehicle when controlling the steering of a tag axle of the vehicle. None of the above-discussed prior art documents discloses a system or a method where the safety and stability of the vehicle is improved, e.g. to avoid skid or jack-knife situations, by controlling the steering of the tag axle dependent of the articulation state, and independently e.g. of the steering angle of the front axle.
According to a first aspect the invention relates to an articulated vehicle comprising an articulation joint, an articulation joint sensor member 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. In addition an actively controlled steerable tag axle is provided which is controlled by a tag axle control unit which is configured to generate a tag axle steering control signal including tag axle steering commands to be applied to the tag axle in order to control the steering of said tag axle. The articulation joint sensor member is configured to generate an articulation signal that includes said at least one articulation parameter value, and that the tag axle control unit is configured to receive said articulation signal, to analyze said articulation parameter value(s) in relation to a set of vehicle control rules and to determine the tag axle steering commands in dependence of the result of the analysis. According to the present invention the articulated vehicle comprises an actively controlled articulation joint, and the actively controlled articulation joint and the tag axle are then both actively controlled in dependence of each other resulting in a further improved safety and stability.
According to a second aspect the invention relates to a method in an articulated vehicle comprising an articulation joint, an articulation joint sensor member, an actively controlled steerable tag axle and a tag axle control unit which is configured to generate a tag axle steering control signal including tag axle steering commands to be applied to the tag axle in order to control the steering of the tag axle.
The method comprises: - measuring, by the articulation joint sensor member, at least one articulation parameter representing the articulation state of the articulation joint, - determining at least one articulation parameter value in dependence of the measurement, The method further comprises: - generating, by the articulation joint sensor member, an articulation signal that includes the at least one articulation parameter value, - receiving, by the tag axle control unit, said articulation signal, - analyzing the articulation parameter value(s) in relation to a set of vehicle control rules, - determining the tag axle steering commands in dependence of the result of the analysis, and - controlling the tag axle steering by said tag axle steering commands.
Thus, the present invention aims to use a steerable tag axle actively on an articulated vehicle fitted with such an axle in order to improve vehicle safety and stability such that the steered tag axle will be controlled to counter-steer an undesired state/motion of the articulation joint in order to make an undesired state/motion last as short as possible.
Brief description of the drawings Figure 1 is a schematic illustration of an articulated vehicle provided with features according to the present invention.
Figure 2 is a schematic block diagram illustrating an articulated vehicle according to the present invention.
Figure 3 is a schematic block diagram illustrating an articulated vehicle according to one embodiment of the present invention.
Figure 4 is flow diagram illustrating the steps of the method according to the present invention.
Detailed description The 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. Moreover, the items and the figures are not 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 a steerable non-driven axle, herein denoted tag axle. In particular the vehicle may be a truck, a semi-trailer truck, a bus, a dumper, a hauler, and the like.
In figure 1 is illustrated an articulated vehicle 2 comprising an articulation joint 4 and a tag axle 8 comprising two steerable wheels. In the illustration the tag axle is located behind the articulation joint, but the tag axle could also be located in front of the joint. Sometimes it would be beneficial to have more than one tag axle, and the present invention is also applicable to vehicles provided with more than one tag axle.
With references to the block diagram in figure 2 an articulation joint sensor member 6 is provided which is configured to measure at least one articulation parameter representing the articulation state of the articulation joint 4.
The sensor member 6 is any sensor applicable to measure an articulation parameter 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 8 controlled by a tag axle control unit 10. The tag axle control unit 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 the tag axle. The steering of the axle 8 is schematically indicated by arrows.
The articulation joint sensor member 6 is configured to generate an articulation signal 14 that includes the at least one articulation parameter value, and the tag axle control unit 10 is configured to receive the articulation signal 14. Preferably the articulation signal is communicated via the CAN bus of the vehicle.
The tag axle control unit 10 is configured to analyze the articulation parameter value(s) in relation to a set of vehicle control rules and to determine the tag axle steering commands in dependence of the result of the analysis.
The set of vehicle control rules are preferably related to safety and stability of the vehicle. These may be arranged in a table where a specified articulation joint state corresponds to a corresponding tag axle steering activity.
The tag axle steering commands may then be determined such that the tag axle steering will counter-steer an undesired state/motion of the articulation joint 4 in order 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. the number of axles, the position of the steerable tag axle in relation to the articulation joint (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 angle value will then be related to a tag axle steering direction (left/right) and steering angle 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 “10 degree 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 is protected against unwanted situations and the vehicle stability is thereby improved. An unwanted situation, e.g. a skid, is counter-acted by applying a certain steering angle at the tag axle such that the articulation joint will return to its desired set value. This may in some situations involve having an opposite directed steering of the tag axle in comparison to the steering direction of the steered front axle(s).
The tag axle control unit 10 may further be configured to receive one or many vehicle state parameter values being one or many of steering wheel angle, yaw rate, lateral acceleration, vehicle speed, wheel speeds, engine torque, and to apply one or many of these values in when performing the analysis.
In one advantageous application the articulation joint 4 is an actively controlled articulation joint. This embodiment will now be described with references to figure 3.
In this embodiment the articulated vehicle also comprises an articulation control unit 16 that is configured to monitor vehicle behavior, e.g. by receiving the articulation signal 14, and also one or many of the steering wheel angle, the yaw rate, the lateral acceleration, the vehicle speed, the wheel speeds, and the engine torque.
The articulation control unit 16 is configured to determine a deviation value as a measure of a deviation from an expected behavior. The articulation control unit is further configured to evaluate the determined deviation value in relation to a set of deviation rules and to determine at least one corrective measure in dependence of the result of the evaluation. The purpose of the corrective measure(s) is to maintain or regain vehicle stability, and may be to dampen the articulation around the joint.
The articulation control unit 16 is configured to generate at least one articulation control signal 18 including articulation control parameters, being determined to improve vehicle stability, and to apply the control parameters to the articulation system of the vehicle.
Thus, in one further embodiment the actively controlled articulation joint 4 as described above and the actively controlled tag axle 8 are combined resulting in a still 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 be described with references to the flow diagram shown in figure 4, but also in relation to the above description of the articulated vehicle.
Thus, the articulated vehicle comprises an articulation joint, an articulation joint sensor member, an actively controlled steerable tag axle and a tag axle control unit which is configured to generate a tag axle steering control signal including tag axle steering commands to be applied to the tag axle in order to control the steering of said tag axle.
The method comprises measuring, by the articulation joint sensor member, at least one articulation parameter representing the articulation state of the articulation joint, and determining at least one articulation parameter value in dependence 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) in relation to a set of vehicle control rules, and is further configured to perform the steps of determining the tag axle steering commands in dependence of the result of the analysis, and controlling the tag axle steering by said tag axle steering commands. 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 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 make the undesired situation last as short as possible.
The method advantageously comprises measuring by the articulation joint sensor member one or many of an articulation angle, articulation angle speed, articulation angle acceleration, articulation damping.
As discussed above, according to one embodiment the articulation joint is an actively controlled articulation joint, and in one embodiment the method comprises controlling the actively controlled articulation joint in combination with the actively controlled tag axle, as described herein, in order to achieve a vehicle capable of regaining stablity faster.
Advantageously the method comprises receiving, by the tag axle control unit, one or many vehicle state parameter values being one or many of steering wheel angle, yaw rate, lateral acceleration, vehicle speed, wheel speeds, engine torque, and applying one or many of the values in the analysis.
In some type of articulation control systems e.g. the articulation joint damping will be controlled, e.g. increased, and also the engine output be controlled. This may be 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 tag axle(s) (EST) in order to increase the vehicle stability.
The intention of the tag axle control system according to the present invention is to improve the protection of the articulation joint in order to improve and maintain the 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 joint angle easier, faster, and safer returns to its set value.
The active tag axle steering may result in a change of sign (direction) of the tag axle steering angle in relation to the steering wheel angle. Thus, the tag axle steering 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 a computer connected to the control unit 10, to perform the method described above with references to the flow diagram in figure 4. In addition is provided a computer program product comprising a computer program code stored on a computer-readable medium to perform the method described above, when the computer program code is executed by a tag axle control unit 10 or by a computer connected to the control unit 10.
More in detail, the vehicle 2 includes a tag axle control unit 10 that includes a processing unit and a memory unit. The processing unit may be made up of one or more Central Processing Units (CPU). The memory unit may be made up of one or more memory units. A memory unit may include a volatile and/or a nonvolatile memory, such as a flash memory or Random Access Memory (RAM). The tag axle control unit 10 further includes a computer program P including a computer program code to cause the tag axle control unit 10, or a computer connected to the tag axle control unit 10, to perform any of the method steps described 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 Area Network), which uses a message based protocol, or a LIN-bus (Local Interconnect Network). Examples of other communication protocols that may be used are TTP (Time-Triggered Protocol), Flexray, etc. In that way signals and data described herein may be exchanged between different units, devices, sensors and/or detectors in the vehicle 2. Signals and data may instead be transferred wirelessly between the different units, devices, sensors and/or detectors.
The present invention is not limited to the above-described preferred embodiments. 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 (10)
1. 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, 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 to control the steering of said tag axle, wherein the articulation joint sensor member (6) is configured to generate an articulation signal (14) that includes said at least one articulation parameter value, characterzed in that said articulation joint (4) is an actively controlled articulation joint and wherein the tag axle control unit (10) is configured to receive said articulation signal (14) from said articulation joint (4), 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, wherein said set of vehicle control rules are configured such that a specified articulation joint state corresponds to a corresponding tag axle steering activity controlling so that the steering of the tag axle is dependent of the articulation state and independently of the steering angle of a vehicle front axle.
2. The articulated vehicle (2) according to claim 1, wherein the tag axle steering commands are determined such that the tag axle steering will countersteer an undesired state/motion of the articulation joint (4) of the vehicle in order to make the undesired state/motion last as short as possible.
3. The articulated vehicle (2) according to any of claims 1-2, wherein the articulation joint sensor member (6) is configured to measure at least one or many of an articulation angle, articulation angle speed, articulation angle acceleration, articulation damping.
4. The articulated vehicle (2) according to any of claims 1-3, wherein said tag axle control unit (10) is configured to receive one or many vehicle state parameter values being one or many of steering wheel angle, yaw rate, lateral acceleration, vehicle speed, wheel speeds, engine torque, and to apply one or many of said values in said analysis.
5. A method in an articulated vehicle comprising an articulation joint, an articulation joint sensor member, an actively controlled steerable tag axle and a tag axle control unit which is configured to generate a tag axle steering control signal including tag axle steering commands to be applied to the tag axle in order to control the steering of said tag axle, wherein the method comprises: - measuring, by said articulation joint sensor member, at least one articulation parameter representing the articulation state of the articulation joint, - determining at least one articulation parameter value in dependence of the measurement, characterzed in said articulation joint (4) is an actively controlled articulation joint and that the method further comprises: - generating, by the articulation joint sensor member, an articulation signal that includes 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 vehicle control rules, wherein said set of vehicle control rules are arranged such that a specified articulation joint state corresponds to a corresponding tag axle steering activity so that the steering of the tag axle is dependent of the articulation state and independently of the steering angle of a vehicle front axle - determining said tag axle steering commands in dependence of the result of the analysis, and - controlling said tag axle steering by said tag axle steering commands.
6. The method according to claim 5, comprising determining the tag axle 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 make the undesired situation last as short as possible.
7. The method according to any of claims 5-6, comprising measuring by the articulation joint sensor member one or many of an articulation angle, articulation angle speed, articulation angle acceleration, articulation damping.
8. The method according to any of claims 5-7, comprising receiving, by said tag axle control unit, one or many vehicle state parameter values being one or 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.
9. A computer program P, wherein said computer program P comprises a computer program code to cause a tag axle control unit (10), or a computer connected to said control unit (10), to perform the method according to any of claims 5-8.
10. A computer program product comprising a computer program code stored on a computer-readable medium to perform the method according to any of the claims 5-8, 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 SE1650840A1 (en) | 2017-12-16 |
| SE541031C2 true 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) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102023118381A1 (en) | 2022-09-01 | 2024-03-07 | Scania Cv Ab | Control device and method for reducing possible side pull of a vehicle |
Families Citing this family (6)
| 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 |
| 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 |
| 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 |
| US20230082801A1 (en) * | 2020-02-11 | 2023-03-16 | Volvo Truck Corporation | A control architecture for a self-powered dolly vehicle |
| SE545455C2 (en) | 2021-04-08 | 2023-09-19 | Scania Cv Ab | Control device and method for controlling a tag axle steering system |
| SE545191C2 (en) | 2021-09-20 | 2023-05-09 | Scania Cv Ab | Control device and method for controlling a tag axle steering system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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
-
2017
- 2017-06-08 DE DE102017005456.8A patent/DE102017005456B4/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102023118381A1 (en) | 2022-09-01 | 2024-03-07 | Scania Cv Ab | Control device and method for reducing possible side pull of a vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| SE1650840A1 (en) | 2017-12-16 |
| DE102017005456A1 (en) | 2017-12-21 |
| DE102017005456B4 (en) | 2021-08-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| SE541031C2 (en) | Articulated vehicle comprising tag axle arranged to be steered based on an articulation joint sensor | |
| US11235747B2 (en) | Method for controlling a steering system of a vehicle | |
| US10766482B2 (en) | Method for stabilizing a tractor vehicle-trailer combination during travel | |
| US9168951B2 (en) | Jackknife condition for backing up of a vehicle attached to a long wheelbase dual axle trailers | |
| Cheng et al. | High-speed optimal steering of a tractor–semitrailer | |
| EP2773544B1 (en) | Method and arrangement for vehicle stabilization | |
| JPH101037A (en) | Providing method for trailer connecting condition to be used in vehicle combination, operation stability reinforcing method for multiunit commercial vehicle, jackknifing prevention controlling method for combination vehicle | |
| EP2605949B1 (en) | Vehicle active steering shimmy mitigation | |
| WO2015057147A1 (en) | Method in order to control vehicle behaviour | |
| Wang et al. | Constrained H∞ control for road vehicles after a tire blow-out | |
| JP6328841B1 (en) | Control device and steering device | |
| EP2065291A1 (en) | Method for operating superimposed steering for a motor vehicle | |
| CN113993767A (en) | Method for estimating the difference in longitudinal forces acting on a steered wheel | |
| CN112519875A (en) | Vehicle wheel steering control system and method | |
| US11987252B2 (en) | Systems and methods for determining whether a vehicle is in an understeer or oversteer situation | |
| Elhemly et al. | Tractor–semitrailer jackknifing elimination using semitrailer differential braking technique | |
| CN111032491B (en) | Method, system, vehicle, computer program and computer readable medium for providing vehicle steering support by differential wheel braking | |
| US20240166257A1 (en) | Control device and method for controlling a tag axle steering system | |
| Zhou et al. | Lateral stability control on tractor semi-trailer based on anti-jackknife apparatus | |
| EP3406497B1 (en) | Method for controlling a vehicle | |
| KR102438570B1 (en) | Apparatus for controling vehicle | |
| US20230049528A1 (en) | Corner brake pressure reduction | |
| SE542330C2 (en) | A method and a system for controlling an articulated vehicle | |
| US11203377B2 (en) | System and method to estimate a tie-rod force and control the steering of a vehicle | |
| Zhou et al. | Jackknife control on tractor semi-trailer during emergency braking |