Real-time capable vehicle-trailer coupling by algorithms for differential-algebraic equations

The real-time simulation of vehicle trains requires an accurate and numerically feasible representation of the vehicle-trailer coupling. Although the equations of motion for the chassis instances can be reduced to systems of ordinary differential equations, additional constraints on the relative motion of vehicle and trailer are introduced when considering the hitch. In this article, we present a strategy for the simulation of vehicle-trailer combinations, where the algebraic constraints of the coupling are treated explicitly. Although this approach allows exact modeling of the respective joint geometry and realistic calculation of the coupling forces, a suitable numerical algorithm is required in order to solve the resulting differential-algebraic system of index 3 in real-time. The implementation in a commercial vehicle dynamics program is discussed and real-time simulation results are shown, which prove its feasibility for different coupling joints and demanding driving maneuvers.     

Modeling Travel Time Under ATIS Using Mixed Linear Models

The objective of this paper is to model travel time when drivers are equipped with pre-trip and/or en-route real-time traffic information/advice. A travel simulator with a realistic network and real historical congestion levels was used as a data collection tool. The network included 40 links and 25 nodes. This paper presents models of the origin-to-destination travel time and en-route short-term route (link) travel time under five different types and levels of advanced traveler information systems (ATIS). Mixed linear models with the repeated observation's technique were used in both models. Different covariance structures (including the independent case) were developed and compared. The effect of correlation was found significant in both models. The trip travel time analysis showed that as the level of information increases (adding en-route to the pre-trip and advice to the advice-free information), the average travel time decreases. The model estimates show that providing pre-trip and en-route traffic information with advice could result in significant savings in the overall travel time. The en-route short-term (link) travel time analysis showed that the en-route short-term (link) information has a good chance of being used and followed. The short-term qualitative information is more likely to be used than quantitative information. Learning and being familiar with the system that provides the information decreases en-route short-term delay.     

Pragmatic Tyre Model for Short Wavelength Side Slip Variations

The first-order relaxation length concept is often used to model transient tyre behaviour. It gives a rather good representation of the lateral force response, also at shorter wavelengths. The self aligning moment appears to behave rather differently and its responses cannot be represented by a relaxation length system only. Based on the analytical frequency response functions of the pneumatic trail of the brush type tyre model, a new pragmatic approach is developed. The model consists of a phase leading system in series with the first-order model for the lateral force. The results are compared to the responses of a discrete brush type simulation model. It appears that the aligning moment can be represented by this new pragmatic model very well.     

Stabilization of Passenger Car-Caravan Combination Using Four Wheel Steering Control

This study aims to stabilize the trailer at high speed. The behavior of passenger cars with four wheel steering system, vehicles with rear wheel steering and of trailer and passenger car are similar. This is regarded as an optimal regulator problem with linear equation of motion, and a state variables feedback control system is adopted. The problem of stability at high speed on a straight course can be solved. Therefore, the passenger car-trailer system can be stabilized. Furthermore, this study indicates the way forward to stabilize a passenger car-trailer system.     

Braking Force Distribution Control for Improved Vehicle Dynamics and Brake Performance

This paper describes the feasibility of improving the braking performance of a commercial vehicle by using an electronic braking system. An electronic braking system enables the braking force at each wheel to be independently controlled. Braking force distribution control makes the braking force at each wheel proportional to each wheel's load. Results of computer simulation and vehicle test showed that the proposed control laws can eliminate the effects of a laden condition on the braking distance and can increase the degree of deceleration at which wheel lock occurs, resulting in improved vehicle attitude stability during a critical maneuver.     

Extensive application of TMCP steel plates to ship hulls: 40 kgf/mm class high yield stress steel

A study was performed on TMCP (thermo-mechanical control process) - manufactured high-tensile steel plates with yield point of 40 kgf/mm² (YP40), which were recently developed for use in ship production and whose ease of shop fabrication is almost equal to that of the well-proven ship high-tensile steel plates (HT50) with yield points at 32 and 36 kgf/mm² levels.

The authors' study addressed the performance required of the YP40 TMCP high-tensile steel for ship applications, including strength characteristics of base metal and high-heat-input welded joints, and also shop fabrication methods suitable to this material.     

Two alternative definitions of traffic equilibrium

The paper shows that, under reasonable conditions, if there are junction or modal interactions then a Wardrop equilibrium exists but a user—optimised flow may well not.