Browse Topic: Jackknife crashes

Items (27)
Find
Soft Computing-Based Driver Modeling for Automatic Parking of Articulated Heavy Vehicles02-16-04-00279/9/2023
Parking an articulated vehicle is a challenging task that requires skill, experience, and visibility from the driver. An automatic parking system for articulated vehicles can make this task easier and more efficient. This article proposes a novel method that finds an optimal path and controls the vehicle with an innovative method while considering its kinematics and environmental constraints and attempts to mathematically explain the behavior of a driver who can perform a complex scenario, called the articulated vehicle park maneuver, without falling into the jackknifing phenomena. In other words, the proposed method models how drivers park articulated vehicles in difficult situations, using different sub-scenarios and mathematical models. It also uses soft computing methods: the ANFIS-FCM, because this method has proven to be a powerful tool for managing uncertain and incomplete data in learning and inference tasks, such as learning from simulations, handling uncertainty, and capturing expert parking expertise. The results obtained from the proposed method show that the use of a soft computation method significantly reduces the cumulative errors: errors resulting from summing up each sub-maneuver. Of course, the main source of these errors is related to starting from the random point that exists at the beginning of the predefined complex scenario. This implies that our method can effectively handle the uncertainty and variability of parking scenarios.
Rezaei Nedamani, Hamidreza, Soleymanifard, Mostafa, Safaeifar, Ali, Khiabani, Parisa Masnadi
Articulated Vehicle Lateral Stability Management via Active Rear-Wheel Steering of Tractor Using Fuzzy Logic and Model Predictive Control02-13-02-00087/1/2020
In-phase rear-wheel steering, where rear wheels are steered in the same direction of front wheels, has been widely investigated in the literature for vehicle stability improvements along with stability control systems. Much faster response can be achieved by steering the rear wheels automatically during an obstacle avoidance maneuver without applying the brakes where safe stopping distance is not available. Sudden lane change movements still remain challenging for heavy articulated vehicles, such as tractor and semitrailer combinations, particularly on roads with low coefficient of adhesion. Different lateral accelerations acting on tractor and semi-trailer may cause loss of stability resulting in jackknifing, trailer-swing, rollover, or slip-off. Several attempts have been made in the literature to use active steering of semi-trailer’s rear wheels to prevent jackknifing and rollover. However, loss of stability in an articulated vehicle is usually caused by an oversteered tractor, and the semitrailer’s rear wheels have little effect on the tractor’s directional control. In this study, viability of active rear-wheel steering of tractor to maintain the stability of an articulated vehicle during a high-speed obstacle avoidance maneuver is investigated. Two different controllers, fuzzy logic and linear model-based predictive controllers, are proposed to minimize the off-tracking behavior of an articulated vehicle. The controllers were tested in IPG/TruckMaker environment with MATLAB/Simulink interface on roads with various coefficient of adhesions, performing single lane change maneuvers. The simulated results showed that jackknifing occurring right after sudden lane changes can be successfully prevented using the tractor’s active rear-wheel steering based on model predictive control algorithm when the feedback gains are tuned correctly.
Sahin, Hasan, Akalin, Ozgen
Jackknifing Prevention of Tractor-Semitrailer Combination Using Active Braking Control2015-01-27469/29/2015
Vehicle jackknifing is generally associated with the loss of yaw stability, and is one of the most common cause of serious traffic accidents involving tractor-semitrailer combinations. In this paper, an active braking control strategy is proposed for jackknifing prevention of a tractor-semitrailer combination on a low friction road. The proposed control strategy is realized via upper-level and lower-level control structures considering braking of both the units. In the upper-level control, the required corrective yaw moments for tractor and semitrailer are generated using a PID controller aiming to reduce errors between the actual yaw rates of tractor-semitrailer and the target yaw rates deduced from a reference model. The corrective yaw moments are achieved through brake torque distribution among the tractor and semitrailer axle wheels in the lower-level control. The effectiveness of the proposed jackknifing prevention control is evaluated in a co-simulation environment involving Matlab/Simulink and TruckSim under two different maneuvers on a slippery road surface. Simulation results show that the proposed control approach is effective in jackknifing prevention of the tractor-semitrailer combinations under high speed maneuvers on low friction surfaces.
Li, Bin, Rakheja, Subhash
Jack-Knife Prevention for Articulated Vehicles Using Self-Organizing Fuzzy Control2011-01-09884/12/2011
In this research the differential braking design for articulated vehicle jackknife prevention is investigated. To handle the variations in the semi-trailer loading condition, a self-organizing fuzzy control that can update its control law through a set of learning algorithms is employed. Two different types of driving scenarios are investigated, namely the constant speed step steering and a fish hook maneuver. Computer simulations, both using a linearized vehicle model and the TruckSim® vehicle model, indicate that the SOFC performs consistently well in tracking the desired fifth wheel angle under different loading conditions
Chen, Liang-kuang
Development of a Roll Stability Control Model for a Tractor Trailer Vehicle2009-01-04514/20/2009
Heavy trucks are involved in many accidents every year and Electronic Stability Control (ESC) is viewed as a means to help mitigate this problem. ESC systems are designed to reduce the incidence of single vehicle loss of control, which might lead to rollover or jackknife. As the working details and control strategies of commercially available ESC systems are proprietary, a generic model of an ESC system that mimics the basic logical functionality of commercial systems was developed. This paper deals with the study of the working of a commercial ESC system equipped on an actual tractor trailer vehicle. The particular ESC system found on the test vehicle contained both roll stability control (RSC) and yaw stability control (YSC) features. This work focused on the development of a reliable RSC software model, and the integration of it into a full vehicle simulation (TruckSim) of a heavy truck.
Chandrasekharan, Santhosh, Guenther, Dennis A., Heydinger, Gary J., Salaani, Mohamed Kamel, Zagorski, Scott B.
Jackknife Avoidance in Large Trucks Using Active Front Steering2004-01-263910/26/2004
Active Front Steering (AFS) systems have recently been introduced for passenger vehicles to improve handling stability under adverse road conditions. AFS provides a mechanism to augment the steering angle with a small displacement actuator. In this configuration, the steering angle of the front wheels is the combined input of the handwheel with an additional small angle component from an electronically controlled actuator. This paper investigates AFS for large trucks to assist in avoiding jackknife conditions. Emphasis is given to design aspects to minimize the tendency of AFS systems to interfere with the driver's perception of the vehicle responsiveness.
McCann, Roy, Nguyen, Son
A Study of Jackknife Stability of Class VIII Vehicles with Multiple Trailers with ABS Disc/Drum Brakes2004-01-17413/8/2004
This study investigated the jackknife stability of Class VIII double tractor-trailer combination vehicles that had mixed braking configurations between the tractor and trailers and dolly (e.g. ECBS disc brakes on the tractor and pneumatic drum brakes on the trailers and dolly). Brake-in-turn maneuvers were performed with varying vehicle loads and surface conditions. Conditions with ABS ON for the entire vehicle (and select-high control algorithm on the trailers and dolly) found that instabilities (i.e. lane excursions and/or jackknifes) were exhibited under conditions when the surface friction coefficient was 0.3. It was demonstrated that these instabilities could be avoided while utilizing a select-low control algorithm on the trailers and dolly. Simulation results with the ABS OFF for the tractor showed that a tractor equipped with disc brakes had greater jackknife stability. However, the vehicle left the intended path at an earlier moment in the maneuver than a vehicle equipped with drum brakes under the same simulated conditions.
Zagorski, Scott B., Guenther, Dennis A., Heydinger, Gary J.
Crash Detection System Using Hidden Markov Models2004-01-17813/8/2004
This paper presents the design of a crash detection system based on the principles of continuous-mode Hidden Markov Models (HMM) with real-valued emission parameters. Our design utilizes log-likelihood for optimizing HMM parameters including the number of states in the model and the accelerometer crash-pulse buffer size resulting in lower costs and complexity of the crash detection system. Cross validation technique based on Jackknifing is utilized to estimate the crash pulse detection rate for a variety of crash events involving rigid as well as offset deformable barriers with head-on and oblique angle impacts. The system is simulated using Matlab and Simulink, and the proposed model is able to accurately classify crash-events within 10 ms from the time of the impact.
Singh, Gautam B., Song, Haiping, Chou, Clifford C.
Application of the Extended Kalman Filter to a Planar Vehicle Model to Predict the Onset of Jackknife Instability2004-01-17853/8/2004
The widely used Extended Kalman Filter (EKF) is applied to a planar model of an articulated vehicle to predict jackknifing events. The states of hitch angle and hitch angle rate are estimated using a vehicle model and the available or “measured” states of lateral acceleration and yaw rate from the prime mover. Tuning, performance, and compromises for the EKF in this application are discussed. This application of the EKF is effective in predicting the onset of instability for an articulated vehicle under low-μ and low-load conditions. These conditions have been shown to be most likely to render heavy articulated vehicles vulnerable to jackknife instability. Options for model refinements are also presented.
Dunn, Ashley L. (Al), Heydinger, Gary J., Rizzoni, Giorgio, Guenther, Dennis A.
Development of Directional Stability Criteria for an Early Warning Safety Device90226510/1/1990
Development of a micro-processor based early warning safety device that can detect and warn the drivers of impending dynamic instabilities is discussed to improve the operational safety of articulated freight vehicles. Directional dynamics of articulated freight vehicles are investigated to determine the key dynamic response parameters that can best describe the onset of rollover and jackknife instabilities. The feasibility of identified key response parameters is further investigated in view of various vehicle design and operating conditions, and ease of on-line acquisition and analyses. The study concludes that a general stability criteria can be established to identify impending roll and jackknife instabilities, and a safety monitor can be conceived to provide an early warning to the driver.
Rakheja, Subhash, Piché, Alain
Characteristics of Rollover or Jackknife Accidents of Articulated Trucks (A Case Study for Driver Education and Vehicle Safety improvements)89122711/1/1989
The aim of this study is to investigate the general characteristics of articulated truck accidents by statistical analysis and the causes of “rollover”, “jackknife” and “trailer swing” by case study. The major results are (1) “ran-off-road”, “rollover” and “collision to fixed objects” are rare cases but risky in fatality rate. (2) the incidence and fatality rate are higher than that of single heavy trucks. (3) a multiple steered axles system and an anti-lock braking systems are effective for “rollover” and “jackknife” and (4) the training of skid control are needed for the drivers.
Kojima, Yukio, Takubo, Nobuaki
Feasibility of Anti-Jackknifing Systems for Tractor Semitrailers8916318/1/1989
Many patents and devices exist which purport to prevent or inhibit “jackknifing” of tractor-semitrailer vehicles. The feasibility of such anti-jackknifing systems (AJS), specifically those which are located about the fifth wheel of tractor semitrailers was investigated. Through computer simulation the characteristics of jackknife and trailer swing were identified. Methods of controlling articulation in a jackknife generally produced favourable results. When the same AJS was applied to trailer swing conditions, the swing instability was usually increased rather than decreased. These results lead to the conclusion that efforts should be concentrated on devices for controlling or preventing a jackknife from occurring while maintaining a more or less neutral affect on swing.
Dorion, Suanne L., Pickard, James G., Vespa, Sesto
Computer Simulation Of Directional Dynamics Of Articulated Pusher Bus8851099/1/1988
The directional dynamics of the articulated pusher bus KAROSA C 744 was investigated by way of computer simulation. Appropriate calculations allowad the handling behaviour after an impulse steer input to be studied both under conditions of straight run (lateral oscillations, snaking) and during turns (jackknifing or trailing swing). At the same time the effects of damping and blocking upon the relative yaw motion between the front and rear sections of the articulated bus were subjected to assessments* The computation results have shown that the anti-jackknife device used for the C 744 bus can ensure its dynamic stability even under marginal handling conditions. This has been verified in practice by road performance tests.
Vlk, František
Drive Axle Antilock for Heavy Vehicle Stability8715728/1/1987
For heavy on-highway vehicles, preventing the drive axles from locking is key to vehicle stability. This paper presents a simple and reliable system to assist the driver in bringing a vehicle to a controlled stop. Design priorities are based on providing vehicle stability while maximizing system and component reliability. The result is a simple system with a single sensor and digital controller, installed integral to the drive axle, that yields a cost efficient solution to the jackknifing problem. Specific improvements in reliability, RFI immunity, and self-diagnostics over earlier FMVSS 121 systems are presented. A description of the system, development test information, and preliminary field test results are also presented.
Kramer, Dennis, Roper, Daniel, Trachman, Edward
Handling Response, Accident Reconstruction, and Animation of Articulated Recreational Vehicles Using Micro and Minicomputers8600162/1/1986
The articulated recreational vehicle is usually identified with the family car towing a tent, boat or house trailer by means of a particular hitch connection. The handling behavior of this combination varies significantly from that of the family sedan and requires specific consideration. Some of the factors which influence the dynamic response of the articulated recreational vehicle include the load distribution between the trailer and towing vehicle, hitch equipment, braking performance, and geometric and physical parameters. Driver unfamiliarity with the handling characteristics of these vehicles often leads to loss of control due to rollover or unstable oscillation which terminates in jackknifing. The methodology for the development of a micro or minicomputer operational mathematical model to analyze the dynamic response of articulated recreational vehicles is presented. This model may also be employed to analyze non-articulated sedan or camper truck type vehicles. Also, the model has particular application in the field of accident reconstruction. Several examples which illustrate the behavior problems of various types of recreational vehicles are presented. The results are illustrated through computer generated graphics and scale-model animation.
Martinez, J. Ed., Pipkin, A. O.
Handling Response and Accident Reconstruction of Tractor-Semitrailers Using Micro and Minicomputers85235812/1/1985
The handling response of heavy duty trucks and tractor-semitrailers as well as the reconstruction of accidents involving these vehicles presents a challenging problem to the engineer. Due to their geometric and inertia properties, articulated connection, and tendency to jackknife, the dynamic response of these vehicles varies significantly from that of automobiles and requires the consideration of more variables. A computer model for such an analysis permits the analyst to investigate the effect of the many variables in short periods of time and not only address the problem of handling response but also be able to obtain an accurate explanation of how an accident occurred. The methodology for the development of a modular minicomputer operational mathematical model for tractor-semitrailer accident reconstruction and handling problems and its verification are presented. Also, several problems which illustrate some of the features of the program and its graphics capabilities are included. Finally, the results of an animated movie are also presented.
Martinez, J. Ed., Wallingford, Jerry G.
Computer Aided Accident Reconstruction of Tractor-Semitrailers8515299/1/1985
The reconstruction of tractor-semitrailer accidents as well as the handling performance of these vehicles presents a challenging problem to the engineer. Due to their geometric and inertia properties, articulated connection, and tendency to jackknife, the dynamic response of these vehicles varies significantly from that of automobiles and requires the consideration of more variables. A computer model for such an analysis permits the analyst to investigate the effect of the many variables in short periods of time and be able to obtain an accurate explanation of how an accident occurred. The methodology for the development of a modular minicomputer operational mathematical model for tractor-semitrailer accident reconstruction and handling problems and its verification are presented. Also, several problems which illustrate some of the features of the program and its graphics capabilities are included.
Martinez, J. Ed., Wallingford, Jerry G.
Effects of Trailer Hookup Practices on Passenger Car Handling and Braking7800122/1/1978
This paper presents selected results from a full-scale test program aimed at development and validation of test procedures for evaluating car/trailer handling and braking performance. The results described herein pertain to the observed effects of hitch load, load leveling (via weight distributing type hitches), and tow car tire inflation on modifying the tow vehicle understeer gradient and its sensitivity to lateral acceleration. Abrupt reductions in understeer were observed which increased the tendency for jackknife. Front/rear tire pressure differentials (front lower than rear) have a significant beneficial influence when the hitch load is high. Effects of these hookup variables on trailer swing mode stability and combination vehicle stopping distance are also presented.
Klein, Richard, Johnston, Donald, Szostak, Henry
Automatic Stabilization of Tractor Jackknifing in Tractor-Semitrailer Trucks7405512/1/1974
This paper describes an automatic stabilizing technique to prevent tractor jackknifing in tractor-semitrailer trucks. This stabilizing technique consists of the detection of the onset of a jackknife and the subsequent application of corrective action. The onset of a jackknife is detected through the behavior of the drive wheels, and the corrective action consists of a form of corrective braking; that is, the simultaneous operation of the antiskid systems at all axles of the truck. The results obtained in this study indicate that the stabilizing technique may effectively prevent the development of a tractor jackknife during braking. Furthermore, the implementation of this technique in a real truck would be relatively simple and require a minimum of additional hardware.
Susemihl, Enrique Alfonso, Krauter, Allan I.
Jackknife Control for Tractor-Trailer7306432/1/1973
A method to stop jackknifing of all tractor-trailer vehicles by controlling the angle between the tractor and the trailer to a maximum of 15 deg of movement to either side is discussed. Most jackknifing occurs when the driver is forced into a unexpected lane change or into a panic stop to avoid an accident. Tests have proved that when a tractor-trailer is in a 25 deg or more angle, the vehicle is then in an “angle of no return” and a jackknife can occur. When road conditions are unfavorable, due to rain, ice, or snow, the jackknife will be more severe.
Keller, A. T.
The Mather Jackknife Control Unit7306412/1/1973
Jackknifing occurs with and without braking. It occurs whenever the slip angles of the rear tractor wheels exceed the value at which the maximum side force is developed. Jackknifing will occur even with partial skid of rear tractor wheels because the semi-trailer pushes on the hitch introducing a yaw moment, which in turn, increases the tractor's yaw rate. Since no satisfactory solution is available to the jackknifing problem through controlled braking, the Mather Control Unit is developed to employ the velocity2 or V2 damping characteristic so desirable to driver control, which provides low damping at low yaw rates, but increases rapidly to provide adequate counter torque at about 5°/second and thus effectively control jackknifing with or without braking.
ORDORICA, M. A.
Use of Simplified Jackknife Restraint Device Significantly Reduces the Hazard of Jackknifing7306422/1/1973
A simple jackknife restraint device which is integrated with the vehicle's normal braking system controls against the hazard of jackknifing in tractor/trailer operations. The device operates in conjunction with the vehicle's braking system, and the braking action restrains the vehicle from articulating into a dangerous jackknife attitude. The jackknife control mechanism, composed of four major parts, is described, and operation of the control is explained in terms of geometry of installation. Testing of the control is also discussed.
Walsh, Ralph E., Cicchetti, Gildo E.
The Dynamics of Tractor-Semitrailer Vehicles: The Jackknifing Problem7100452/1/1971
The equations of motion for a tractor-semitrailer vehicle, in which both the tractor and semitrailer can pitch, roll, yaw and translate, are derived and solved numerically in their nonlinear form for steering and braking inputs. The linearized equations are also determined and solved for comparison with the nonlinear model. The results demonstrate the occurrence of jackknifing of the nonlinear model, even without the application of braking forces, for certain steering inputs while the linearized model is stable. Violent jackknifing caused by braking is found to take place in the nonlinear model whenever braking forces at the rear tractor wheels are of sufficient magnitude to limit or reduce the side forces occurring there; locking of the wheels is not required. Jackknifing can not always be prevented by damping (short of locking) at the hitch, but the action can be slowed down considerably.
Mikulcik, E. C.
Case Comparisons of Restrained and Nonrestrained Occupants and Related Injury Patterns6902452/1/1969
Restraining devices continue to be the most effective means of lessening injuries in automobile collisions. Evidence from the Trauma Research Group's case files illustrates how injury is avoided or minimized by use of lap, shoulder, and diagonal seat belts in several types of crashes, under various angles of impact. Prevention of fatal ejection, the improved chances a restrained driver has of retaining control of his car, and the attenuation of interior collision forces, such as result in jackknifing, are topics discussed, as well as the contribution of major automobile design improvements.
Siegel, Arnold W., VanWagoner, Wayne T., Nahum, Alan M.
Automatic Brake Control for Trucks - What Good is It?6805912/1/1968
A review of benefits to be gained by automatically controlling the slip properties of truck tires indicates that up to 40% shorter stops and complete jackknife control when braking is possible. A simple all-mechanical device is described for use with air brakes which, from the data, shows 7-30% shorter stops, no tire degradation, and full steering control. Data is presented from full sized semi-trailer truck skid tests.
Haviland, G. S.
Rolling Wheels Gather No Skids5302211/1/1953
A CONTROL system is described that has been successfully preventing premature rotation stoppage of airplane wheels when too much braking is used. The system has now been applied to a truck in a series of tests conducted on an icy roadway. It is shown that wheels exert their greatest braking effect when the brakes are applied almost to the point where the wheels lock. Thus, when used on airplanes, the device (1) detects when a brake is about to lock the wheel, (2) releases the brake pressure to allow the wheel to pick up speed, and (3) again permits brake application. This cycle is then repeated until a stop is attained. Similarly, when used on ground vehicles, the device functions by sensing the impending wheel lock, and then relays a signal to actuate the brake valve. The tests showed that individual wheel control devices can prevent out-of-control skidding in trucks and buses, and jackknifing of tractor-trailers.
Gunsaulus, C.A.
Synchronization of Brakes on Multi-Axle Truck-Trailer Trains5202411/1/1952
THIS paper presents a discussion of tests and mathematical studies made during the past year in connection with the synchronization of brakes on truck-trailer combination units. These developments point to a clarification of the many misconceptions and exaggerated ideas which have been built up concerning timing, steering, and braking necessary to offset the dangerous jackknife type of skid, as well as the slide which frequently occurs on slippery pavements. The writer describes two types of jack-knife which may occur if the braking power on certain axles builds up more rapidly than on others. A third type of jackknife may result from steering as, for example, in a sudden turn to avoid an obstacle, even with no brakes applied. The writer points out that synchronized braking cannot offer anything spectacular in the way of shortening stopping distance unless build-up time is shortened considerably in the process. The advantage with synchronized braking is not in making shorter stops, but in minimizing that short but critical time in which a jackknife can develop beyond control. Equations are presented covering test data and hypothetical conditions analyzed to determine the relative value of the different force and time factors in stopping a train. After these more obvious factors have been corrected, steps may be taken to adjust the torque on each axle to weight variations and dynamic transfer.
Oetzel, J. George
Items per page:
1 – 27 of 27