Methods for reducing high-speed off-tracking in multi-trailer heavy duty vehicles
AssigneeVolvo Truck Corporation
InventorsToheed GHANDRIZ, Peter NILSSON, Bengt JACOBSON, Leo LAINE
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Abstract
A method for reducing off-tracking by a multi-trailer heavy duty vehicle during a maneuver, the method comprising obtaining a model of vehicle dynamics describing dynamics of the multi-trailer heavy duty vehicle, determining respective force trajectories for two or more axles of the vehicle as a solution to a non-linear optimal control problem, NOCP, where the NOCP is formulated with an objective to at least minimize trailer off-tracking, wherein the NOCP is formulated based on the model of vehicle dynamics, and controlling motion of the heavy duty vehicle during the maneuver based on the determined force trajectories.
Claims16
A method for reducing off-tracking by a multi-trailer heavy duty vehicle during a maneuver, the method comprising
- obtaining a model of vehicle dynamics describing dynamics of the multi-trailer heavy duty vehicle,
- determining respective force trajectories for two or more axles of the vehicle as a solution to a non-linear optimal control problem, NOCP, where the NOCP is formulated with an objective to at least minimize trailer off-tracking, wherein the NOCP is formulated based on the model of vehicle dynamics and a prediction of vehicle control during the maneuver, and
- controlling motion of the heavy duty vehicle during the maneuver based on the determined force trajectories.
Dependencies are inferred from the claim text.