Jackknife Control on Tractor Semi-Trailer during Emergency Braking
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.
Jianzhong Wang and Jingang Qi
S. W. Zhou et al., "Jackknife Control on Tractor Semi-Trailer during Emergency Braking", Advanced Materials Research, Vols. 299-300, pp. 1303-1306, 2011