Jackknife Control on Tractor Semi-Trailer during Emergency Braking

Shu Wen Zhou; Si Qi Zhang; Guang Yao Zhao

doi:10.4028/www.scientific.net/AMR.299-300.1303

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 299-300Jackknife Control on Tractor Semi-Trailer during...

Jackknife Control on Tractor Semi-Trailer during Emergency Braking

Abstract:

Emergency braking on a low coefficient of friction or split-mu road surface, the semi-trailer may push the tractor from behind until it spins round and faces backwards, and a jackknife accident occurs. In this paper, the tractor semi-trailer kinematics was analyzed and a 3-dof of tractor semi-trailer model was used to design a state observer to estimate the articulation angle. To avoid a jackknife, the four-channel ABS which can produce maximum braking force will be switch to three-channel ABS according the estimated articulation angle. The virtual prototyping simulation results show that the jackknife control system can improve the tractor semi-trailer lateral stability under emergency braking and shorten the stop distance dramatically on split-mu road surface at high speed.