Stabilization of car-caravan combination using independent steer and drive/or brake forces distribution

Abstract

Once a combined vehicle becomes unstable, it is very difficult for a driver to stabilize it especially under severe driving conditions, such as turning with braking. This is mainly due to the effect of the towed vehicle on the towing vehicle through the hitch jackknifing. This effect makes the handling characteristics of a car-caravan combination different from those of a single vehicle. Therefore, this paper proposes a control design concept for an optimum distribution of longitudinal and lateral forces of the four tires of a towing vehicle. The mean objectives of the control system were to stabilize the motion of an articulated vehicle utilizing the tires entire ability in both longitudinal and lateral directions as well as to make the handling characteristics of an articulated vehicle similar to those of a single one. The sliding control law based on vehicle planar equations of motion is used to derive the control laws. The proposed control system is evaluated under severe driving conditions and compared with the results of integrated control systems. The robustness of the articulated vehicle motion with the proposed control against the coefficient of friction variation is discussed.

Keywords

• Vehicle dynamics
• Nonlinear tire characteristics
• Optimum control
• Sliding control