Method of reducing or preventing lateral oscillations of connected vehicle unit, control system, steering system, leading vehicle unit, and vehicle combination

A control system for reducing or preventing lateral oscillations of at least one connected vehicle unit of a vehicle combination comprising the at least one connected vehicle unit connected to a leading vehicle unit, the control system comprising:

• at least one data processing device;
• and
• at least one memory having a computer program stored thereon, the computer program comprising program code which, when executed by the at least one data processing device, causes the at least one data processing device to:
• provide one or more parameters associated with a setup of the vehicle combination;
• determine, based on the one or more parameters, one or more critical frequencies having critical rearward amplification of a motion variable between the leading vehicle unit and the at least one connected vehicle unit;
• monitor a steering input to the leading vehicle unit;
• determine that the steering input excites any of the one or more critical frequencies;
• and
• in response to the determining, automatically trigger a countermeasure to avoid or reduce the steering input exciting any of the one or more critical frequencies, for proactively reducing or preventing lateral oscillations of the at least one connected vehicle unit.

A steering system comprising:

• a control system for reducing or preventing lateral oscillations of at least one connected vehicle unit of a vehicle combination comprising the at least one connected vehicle unit connected to a leading vehicle unit, the control system comprising:
• at least one data processing device;
• and
• at least one memory having a computer program stored thereon, the computer program comprising program code which, when executed by the at least one data processing device, causes the at least one data processing device to:
• provide one or more parameters associated with a setup of the vehicle combination;
• determine, based on the one or more parameters, one or more critical frequencies having critical rearward amplification of a motion variable between the leading vehicle unit and the at least one connected vehicle unit;
• monitor a steering input to the leading vehicle unit;
• determine whether the steering input excites any of the one or more critical frequencies;
• and
• automatically trigger a countermeasure for reducing or preventing lateral oscillations of the at least one connected vehicle unit upon determining that the steering input excites any of the one or more critical frequencies.