A Comparison of Various Computer Simulation Models for Predicting the Directional Responses of Articulated Vehicles

This paper presents the results of a comparative study of the predictions, made using computer simulation models of different levels of complexity, of the directional responses of commercial articulated vehicles in steady-state and lane-change maneuvers. The differences in the predictions obtained using various models are examined and are compared with available experimental data. The objective of this study is to compare the capabilities and limitations of various simulation models for predicting the directional behavior of articulated vehicles.     

Ride Dynamics of Articulated Vehicles–A Literature Survey

SUMMARY

This paper presents a review of the available literature describing the methods of modelling the vibrational response of articulated vehicles to the road inputs at the tire contact points. It states and discusses the mathematical techniques that have been put forward for obtaining road input characteristics, for modelling the vehicles in a range of degrees of freedom, and for performing the analysis necessary to obtain the vibrational response. Finally the indices that have been proposed for ride comfort and ride safety are given and the manner in which various researchers relate these to the vibrational characteristics of the vehicles is described.     

The Static Stability of Articulated Commercial Vehicles

SUMMARY

This review of the state of the art emphasizes recent results that have been obtained in extending conventionalanalysis techniques to the treatment of “Highway Trains”, that is, to heavy trucks that have multiple articulation points and employ suspensions with multiple axles. Equations of motion applicable to the equilibrium turning performances of articulated vehicles are examined with respect to using analysis techniques involving steering gains, understeer gradients, effective wheel-bases, handling diagrams, and critical speeds. These examinations provide the basis for in sights into simplified approaches for understanding the steady turning mechanics of articulated, multi-axle vehicles riding on pneumatic tires.     

Stability Criteria for Articulated Railway Vehicles Possessing Perfect Steering

SUMMARY

The general form of the equations o f motion o f multi-body articulated railway vehicles are used to establish the conditions which the elastic stiffness matrix, which describes the nature and configuration o f the suspension elements connecting the various bodies, must satisfy in order to achieve both perfect steering on circular curves and dynamic stability. The resulting criteria are then used to discuss the properties of various multi-axle configurations which are either typical of current practice or possibilities for future designs.     

Frequency Response Analysis of Canadian Logging Trucks

SUMMARY

This paper examines the frequency responses often logging truck configurations currently operating in the interior of British Columbia in Canada. The work is an extension of a previous study conducted at the National Research Council (NRC) in 1990. The previous study presented an extensive analysts of the directional responses and frequency responses of four Canadian log-hauling truck configurations; a tractor/pole trailer, a tractor/triaxle trailer, a tractor/quadaxle trailer (with a single load), and a tractor/single-axle-jeep/pole trailer. In the current study, the frequency responses of these four configurations are compared with those of six more log-hauling truck configurations; a tractor/ tandem-axle-jeep/pole trailer, a doglogger, a double doglogger, a tractor/quadaxle trailer (with a dual load), a tractor/jeep/triaxle trailer, and a tractor/jeep/quadaxle trailer. The current study makes use of three models developed by NRC in the previous study, and a new model developed at NRC in cooperation with the University of Victoria.

The frequency response method has been applied in this study to predict the lateral acceleration at the centre of gravity of each articulated vehicle unit, and the rearward amplification ratio. The logging truck simulation results have been compared with corresponding results, obtained using UMTRI's simplified models, for three conventional highway vehicles; a tractor/semitrailer, a B-train, and an A-train. The comparison provides a useful indication of the differences between the behaviours of logging trucks and conventional highway trucks in their shared environment.     

Active Roll Control of Articulated Vehicles

This paper describes an investigation into active roll control of articulated vehicles. The objective is to minimise lateral load transfer using anti-roll bars incorporating low bandwidth hydraulic actuators. Results from handling tests performed on an articulated vehicle are used to validate a nonlinear yaw/roll model of the vehicle. The methodology used to design lateral acceleration controllers for vehicles equipped with active anti-roll bars is developed using a simplified linear articulated vehicle model. The hardware limitations and power consumption requirements of the active elements are studied. The controller is then implemented in the validated articulated vehicle model to evaluate the performance of an articulated lorry with active anti-roll bars. The simulation results demonstrate the possibility of a significant improvement in transient roll performance of the vehicle, using a relatively low power system (10 kW), with low bandwidth actuators (5 Hz).     

Roll Plane Analysis of Articulated Tank Vehicles During Steady Turning

SUMMARY

The rollover immunity levels of articulated tank vehicles with partial loads are investigated. A static roll plane model of the articulated vehicle employing partially filled cylindrical tank is developed. The vertical and lateral translation of the liquid cargo due to vehicle roll angle and lateral acceleration, encountered during steady turning, are evaluated. The roll moments arising from vertical and lateral translation of the liquid cargo are determined and incorporated in the roll plane model of the vehicle. The adverse influence of the unique interactions of the liquid within the tank vehicle, on the rollover limit of the articulated vehicle is demonstrated. The influence of compartmenting of the tank on the steady turning roll response of the vehicle is analyzed, and an optimal order of unloading the compartmented tank is discussed.     

Vergleich einiger Rechen- und Messergebnisse zum Fahrverhalten von Sattelzügen

SUMMARY

In this paper some results of theoretical and experimental investigations on the dynamic directional properties of heavy tractor-semitrailer vehicles are presented.

A nonlinear digital computer model was developed on which the theoretical system analysis is based. This model takes account of the nonUnear tire properties and the friction couple of the fifth wheel. A combination of numerical computation methods (Runge-Kutta and Newton-Raphson techniques) is used for the digital computer simulation.

Full scale road tests with articulated vehicles of 38 ton total weight were conducted for experimental validation of the used theoretical model. As input signals to the vehicle, predetermined steering wheel angle functions were used. The system output signals corresponding to these input functions were measured and stored.

A comparison of the obtained theoretical and experimental results shows a very good qualitative agreement and hence leads to the conclusion that the developed theoretical model can give consistent estimates of the basic dynamic vehicle properties.     

Directional performance issues in evaluation and design of articulated heavy vehicles

This review of the dynamics of heavy road-vehicle systems emphasizes directional performance. The review presents information on the following topics: why are articulated vehicles used; units, hitches, and combination vehicles; multiple axle suspensions and steering systems; important performance issues; models and simulation tools; and controlling directional performance. The concluding section summarizes the material presented and provides ideas regarding the application of vehicle system dynamics concepts in developing controllers for road trains.     

Validation of Railway Vehicle Lateral Dynamics Models

SUMMARY

The general form of the railway vehicle lateral dynamic predictions seems to have been proven. If wheels are coned, rails are of uniform cross-section, and suspensions are linear, then good predictions can be obtained. If wheels are not coned, and rail sections vary, but the suspension is relatively linear, as in modern vehicles, it is still possible to obtain good predictions of critical speed for flexible suspensions. The situation with “stiff” vehicles remains unproven. In each case dynamic response calculations will be only as good as the knowledge of the track input including the rolling line term. The validity of making calculations to predict critical speeds of very non-linear vehicles has not yet been convincingly demonstrated. Validation experiments for the more difficult case of time history representation suggest the possibility of correct prediction for easily comprehensible vehicles, but even this requires an enormous amount of supportive experimental work.     

Black-box modelling of nonlinear railway vehicle dynamics for track geometry assessment using neural networks

ABSTRACT

The use of vehicle dynamics simulation for the track geometry assessment gives rise to new demands. In order to analyse the responses of the vehicles to the measured track geometry defects, the integration of the simulation process in the measurement chain of the track geometry recording car is envisaged. Fast and reliable simulation results are required. This work studies the use of black-box modelling approaches as an alternative to multi-body simulation. The performances of different linear and nonlinear black-box models for the simulation of the vertical and lateral bogie accelerations are compared. While linear transfer function models give good results for the simulation of the vertical responses, their use is not suitable for the highly nonlinear lateral vehicle dynamics. The lateral accelerations are best represented by recurrent neural networks. For the training and validation on high-speed lines using measured vehicle responses, the performance of the black-box simulation outperforms the multi-body simulation. Due to the larger variability of track design and track quality conditions on conventional lines, the model performance degrades and depends significantly on the analysed vehicle type and the track characteristics.     

Exact Equations for Tractrix Curves Associated with Vehicle Offtracking

Abstract

Vehicle offtracking behavior at low speeds is closely approximated by a geometric entity called a tractrix. This paper presents differential equations for generalized coordinates of a planar multibody vehicle model based on tractrix behavior. The equations are exact, can be used with any type of input path, are valid for forward and backward movements, and are much simpler than previously published formulations used to compute transient offtracking. The differential equations can be integrated using conventional numerical integration algorithms to obtain plots of the low-speed tracking performance of articulated vehicles. The equations were formulated symbolically by a computer program used to analyze the kinematic and dynamic behavior of multibody systems. Example numerical results are plotted.     

The Steering Characteristics of Multiple Axle Bogie Systems

SUMMARY

Legislation limits the load that may be transferred to the roadway by the axies of a commercial vehicle and this has resulted in the development of multi axle bogies for both the tractor and trailer units of articulated vehicles and at the rear of rigid vehicles, some of these bogies contain self steering or articulation steered axles

Experience shows that the tyre wear characteristics of multi axle bogies may be unsatisfactory. The paper analyses the role of such bogies in the context of vehicle handling and shows how the lateral tyre forces vary between the axles. An hypotheses relating the forces in a steady state turn to wear is given. The analysis may also be applied to the general case of vehicle handling.     

Validation of an Articulated Vehicle Simulation

SUMMARY

Tests were performed on a typical UK articulated vehicle to measure dynamic tyre forces and sprung mass accelerations. The measured road profile data and vehicle response data are used to determine some of the important characteristics of articulated vehicle vibration behaviour. In particular, roll motions and their effect on dynamic tyre forces are examined. The measured data are used to validate two and three-dimensional computer models of the vehicle. Attention is given to modelling the tandem leaf-spring trailer suspension. The conditions under which a two-dimensional model can accurately simulate vehicle behaviour are examined.     

Towards comfort-optimal trajectory planning and control

ABSTRACT

This paper describes a method to analyse and evaluate different trajectory planning methods and controller types for usage in automated vehicles. Its application is shown by using a novel trajectory planning approach considering comfort aspects (based on Rapidly Exploring Random Tree (RRT)), two different controllers to follow the planned path (cascade controller and flatness based controller) and a simulation method to obtain resulting lateral vehicle accelerations. The method is used to plan and drive a trajectory through a roundabout. It can be seen that the lateral accelerations of the controller-driven vehicle are in the range of the values used for planning. However, the results of both controllers show differences in lateral deviation and in smoothness of lateral accelerations. The simulation results are then compared to real-world test drives in the same roundabout. The measured lateral accelerations are in the same range as well but show a smoother progression than the two controller models.     

An improvement in rollover detection of articulated vehicles using the grey system theory

A Rollover Index combined with the grey system theory, called a Grey Rollover Index (GRI), is proposed to assess the rollover threat for articulated vehicles with a tractor–semitrailer combination. This index can predict future trends of vehicle dynamics based on current vehicle motion; thus, it is suitable for vehicle-rollover detection. Two difficulties are encountered when applying the GRI for rollover detection. The first difficulty is effectively predicting the rollover threat of the vehicles, and the second difficulty is achieving a definite definition of the real rollover timing of a vehicle. The following methods are used to resolve these problems. First, a nonlinear mathematical model is constructed to accurately describe the vehicle dynamics of articulated vehicles. This model is combined with the GRI to predict rollover propensity. Finally, TruckSim^? software is used to determine the real rollover timing and facilitate the accurate supply of information to the rollover detection system through the GRI. This index is used to verify the simulation based on the common manoeuvres that cause rollover accidents to reduce the occurrence of false signals and effectively increase the efficiency of the rollover detection system.     

Effects of Model Complexity on the Performance of Automated Vehicle Steering Controllers: Model Development,Validation and Comparison

SUMMARY

Recent research on autonomous highway vehicles has begun to focus on lateral control strategies. The initial work has focused on vehicle control during low-g maneuvers at constant vehicle speed, typical of lane merging and normal highway driving. In this paper, and its companion paper, to follow, the lateral control of vehicles during high-g emergency maneuvers is addressed. Models of the vehicle dynamics are developed, showing the accuracy of the different models under low and high-g conditions. Specifically, body roll, tire and drive-train dynamics, tire force saturation, and tire side force lag are shown to be important effects to include in models for emergency maneuvers. Current controllers, designed for low-g maneuvers only, neglect these effects. The follow on paper demonstrates the performance of lateral controllers during high-g lateral emergency maneuvers using these vehicle models.     

Effects of Model Complexity on the Performance of Automated Vehicle Steering Controllers: Controller Development and Evaluation

SUMMARY

Due to increased traffic congestion and travel times, research in Advanced Vehicle Control Systems (AVCS) has focused on automated lateral and headway control. Automated vehicles are seen as a way to increase freeway capacity and vehicle speeds while reducing accidents due to human error. Recent research in automated lateral control has focused on vehicle control during low-g maneuvers. To increase safety, automated lateral controllers will need to recognize and react to emergency situations.

This paper investigates the effects of vehicle and tire model order on the response of automated vehicles to an emergency step lane change using a controller based on linear vehicle and tire models. From these studies it is concluded that control strategies based solely on linear vehicle and tire models are inadequate for emergency vehicle maneuvers.

A strategy is then proposed to automatically control vehicles through emergency maneuvers. Here the response of a nonlinear vehicle model is used with a linear state model to optimize controller gains for nonlinear maneuvers. An emergency step lane change is used as a preliminary test of the method.     

Rail Vehicles' Riding Quality and Comfort Related to Theoretical and Experimental Optimization Application to High Speed Trains

SUMMARY

The literature concerned with road damage caused by heavy commercial vehicles is reviewed. The main types of vehicle-generated road damage are described and the methods that can be used to analyse them are presented. Attention is given to the principal features of the response of road surfaces to vehicle loads and mathematical models that have been developed to predict road response. Also discussed are those vehicle features which, to a first approximation, can be studied without consideration of the dynamics of the vehicle, including axle and tyre configurations, tyre contact conditions and static load sharing in axle group suspensions. The main emphasis of the paper is on the dynamic tyre forces generated by heavy vehicles: their principal characteristics, their simulation and measurement, the effects of suspension design on the forces and the methods that can be used to estimate their influence on road damage. Some critical research needs are identified.