Combined emergency braking and turning of articulated heavy vehicles
- Publisher: Vehicle System Dynamics
slip control braking | emergency braking | anti-lock braking | heavy goods vehicle | active safety | articulated vehicle
‘Slip control’ braking has been shown to reduce the emergency stopping distance of an experimental heavy goods vehicle by up to 19%, compared to conventional electronic/anti-lock braking systems (EBS). However, little regard has been given to the impact of slip control braking on the vehicle’s directional dynamics. This paper uses validated computer models to show that slip control could severely degrade directional performance during emergency braking. A modified slip control strategy, ‘attenuated slip demand’ (ASD) control, is proposed in order to rectify this. Results from simulations of vehicle performance are presented for combined braking and cornering manoeuvres with EBS and slip control braking with and without ASD control. The ASD controller enables slip control braking to provide directional performance comparable with conventional EBS while maintaining a substantial stopping distance advantage. The controller is easily tuned to work across a wide range of different operating conditions.
This work was funded by the Engineering and Physical Sciences Research Council and the Cambridge Vehicle Dynamics Consortium (CVDC). At the time of writing, the members of the CVDC included Anthony Best Dynamics, Camcon, Denby Transport, Firestone, Goodyear, Haldex, SIMPACK, HORIBA MIRA, SDC Trailers, Tinsley Bridge, Tridec, Volvo Trucks and Wincanton.
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