Reverse assistance steering control for long combination vehicles

Abstract

Greenhouse gas emissions are a global concern, with the transportation sector being a significant contributor. Enhancing energy efficiency in transportation can play a crucial role in mitigating these emissions. One promising approach to achieving this is the introduction of long combination vehicles (LCVs), which improve logistical efficiency by increasing load-carrying capacity. By reducing the number of vehicles needed to transport the same amount of cargo as a single-combination vehicle, LCVs help lower emissions and promote more sustainable transportation. However, LCVs also present substantial challenges for drivers. Their increased length and weight reduce maneuverability in tight spaces and pose stability concerns at higher speeds. This can, to a large extent, be handled by legislation based on performance-based standards (PBS) [1], but reversing is not covered in today’s PBS. The vehicle becomes more unstable as the number of articulation joints increases, as a result blind spots are created, limited visibility, and the need for precise articulation control. In certain situations, where the turning radius is restricted, drivers may be required to decouple and reposition trailers to complete a reversing maneuver. Additionally, most trucks lack onboard visualization systems to assist drivers during these operations. This research explores an innovative solution by utilizing optimally controlled, multiple steered axles in LCVs. By actively managing the articulation angles, this approach aims to address maneuverability challenges, improve stability, and enhance overall vehicle performance. The primary focus of this thesis is to develop and implement a reverse steering assist system with a control strategy for the articulation angles of LCVs during reversing maneuvers. We specifically utilize an A-double combination vehicle, equipped with two steerable axles—one on the tractor and one on the last axle of the final trailer. This solution improve the maneuverability of the combination vehicle, ultimately enhancing operational efficiency and safety.