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lohnAurell
Vehicle Dynamics Department, Volvo Truck Corporation, Sweden
CB. Winkler
University of Michigan Transportation Research Institute, USA
INTRODUcnON OFFIRACKlNG
Offuackio.g is the lateral deviation between the palh
The lateral stability of heavy vehicle combinations is of Ihe front axle rH the first vehicle unit and the path of
a most important part of active vehicle safety. There is the most severely offtrackio.g axle of the last vehicle unit
consequently a need to be able to objectively test and during a manoeuvre. It gives a measure of the additional
verify the stability characteristics of Ihese vehicles. space that is required for the last unit in that manoeuvre.
In order to meet Ihe ever-increasing demand for
transportation of goods, the vehicle weights are YAW DAMPING AND MODE SHAPE
increasing and new types of vehicle combinations are The yaw damping parameter measured by this
being developed.. This development emphasizes the need method is Ihe relative damping of the lightest damped
for st:andaJ:dized and intematianally recognized test mode of Ihe vehicle combination during free
procedures. There is also a growing focusing on traffic oscillations.
Mode shape expresses how the different vehicle units
1 John Aurell is the convenor of Working Group 6, and move in relation to each other for this mode.
ebris Winkler is one of the experts of the group. A low level rH yaw damping is not desirable in any
2 Numbers in brackets indicate bibliographic references mode of response of Ihe vehicle combination. Modes
given at the end of this paper.
Road transport technology--4. University of Michigan Transportation Research Institute, Ann Arbor, 1995. 463
ROAD TRANSPORT TECHNOLOGY-4
whose shape is chaIacterized by an out-of-phase yaw signals of the last and the first vehicle units. Offtracking
response of succesive units may be partico.larly is measured from maIkings d the paths of the front axle
troublesome. and the most severly offtracking axle.
464
ARTIcuLATED VEHICLE BEHAVIOR
however, provides only the composite gain of the system as will be expJained. Ibis does not yield a true
as results from a distributed frequency content of the representation of the system gain when the individual
specific lane change penOIDled in the test. Dynamic test resolts are evalnated in the time domain.
offttacking is something of a secondary measure in that A single lane change manoeuvre coIllains distributed
it can be seen as a symptomatic result d rearward frequency content. As is well known, the motion (lateral
ampliru:ation and the geometry of the test vehicle. acceleration or yaw velocity) time history of a perfectly
(Geometty of the vehicle, of course, also influences executed siDgle lane change takes the fOIDl of a siDgle
rearward amplification, itse1f). The remainder of this sine-wave which is preceded and followed. by quiescent
discussion, therefore, concentrates on rearward periods. While the sine-wave itself could be said to be
ampliru:ation. pure, the pre and post periods of quiescence. and the
For this discussion, rearward amplification (be it associated sharp comers of transition into and out of the
concerned with either lateral acceleration or yaw _ wave form. introduce a distribution of frequencies. Thus.
velocity) is defined as the transfer function. or system the total content of the manoeuvre spans a range cL
gain. between an input motion of the fiIst vehicle unit frequencies with the power of this distribution centred.
and the output motion of the last vehicle unit. 1bat is: but not purely concentrated. at a frequency close to the
frequency associated with the single wave. This is
(3) illustrated in figure 1.
As a consequence of the distributed frequency
where: content cL the input. the time-domain analysis of the
single lane change manoeuvre does not yield a pure
ML is the motion of the last vehicle unit, measure of system gain at the centre-frequency of the
MF is the motion of the first vehicle unit, lane change. Rather. it yields a weighted-average cL the
RA(f) is the system gain (rearward amplifICation) gain in the vicinity of the centre frequency of the
for the motion and is a function of frequency, f. manoeuvre . The weighting function is detemlined by
the distribution of frequency content in the tractor
Determining rearWard amplification by experiment motion time history. This is illustIated conceptually in
involves implementing equatlon (3). . that is. an figure 2.
experiment is ammged in which some motion of the rIISt Both a brief computer simulation stndyl and limited
vehicle unit canses a forced response cl the last vehicle vehicle testing have been condncted to conium this
unit. Both motions are measured and are "divided" in interpretation of the difference between the pseudo
order to yield a representation of the system gain, known random and single lane change testing methods.
in this case as rearward amplification. The computer study involved a US-sty le double-
As is generally the case for dynamic systems, the gain trailer combination consisting of a tractor and two 8-
of articulated vehicles is known to be a function cl meter trailers. VIa simulation, rearward amplifications
frequency. 1bat is, the magnitude of amplification (ttactor to second trailer) were measured both in the
differs as the frequency content of the forcing function frequency domain and in the time domain, using the
(the motion of the first vehicle unit) differs. Thus. to pseudo random and the single lane change methods,
fully evaluate the RA(f) function experimentally, the respectively.
motion MF must have a frequency content spanning the The resnhs cl the simulation study appear in figure 3.
range cL interest, and the analysis represented by (ML / As expected, the single-lane change method. produces
MF ) must be accomplished in the frequency dmnain. rearward amplification measurements which. when
The pseudo random test procedure described herein is displayed as a function of the centre-frequency of the
meant to meet these criterion and yield a full description manoeuvre , appear to "smooth" the actual system gain
of rearward amplification as a function of frequency. in the frequency domain. Again. this is due to the fact
This test procedure requires a sustained steering input that the single lane change manoeuvre has a frequency
with significant power throughout the frequency range content distributed about the centre-frequency, rather
of interest. During the test, the relevant motions cl the than a pure content at that frequency.
first and last units are measured and the full Vehicle tests were peIformed with a vehicle
representation d the system gain is obtained by proper combination. consisting of a three-axle ttactor, a three-
analysis of this data in the frequency ~omain. axle semitrailer and a three-axle centre axle trailer, with
Conversely, when MF has limited frequency content a GCW of 64 t. Both path-following lane changes and
and the analysis is done in the time domain, as is the case
for the single lane change test procedure, the resulting
measure of amplification is not general. but is specific I The simulation programs used for all or the simulation
for that test manoeuvre and its frequency content. Some work discussed herein were developed using
AUTOSJMTM.[2] All are constrained to constant forward
evaluation of the influence of frequency OIl rearward velocity but are relatively complete in tteabnent of yaw,
amplification can be obtained by perfOIIDing multiple roll, and lateral motion. They each include non-linear tire
tests spanning a range of lane change periods. However, and suspension spring models.
465
ROAD TRANSPORT TECHNOLOGY-4
pseudo random tests were carried out. All tests were input. The influence derives largely from the non-
conducted at a speed of 80 km/h. The rearward linearily associated with satuIation d the lateral
amplification of lateral acceleration and yaw veloci~ capability of the rear most tyres of the vehicle. As the
from these two test methods are shown in figures 4 and level d excitation at the tractor increases moderately.
5, and it appears that these results confum the simulation severe traction demands may develop at the lyres of the
results. last tIailer due to amplification of response motion. As
As a final point of iDterest in this section of the these tyres begin to saturate, lateral acceleration of the
discuSsion, we note that some reseaxchers have reported last trailer also tends to be limited. Thus, the measured
that the double lane change manoeuvre seems to elicit rearward amplification of lateral acceleration declines
more dramatic reaiWard amplification response than for more aggressive manoeuvres. Conversely, saturation
does the single lane change manoeuvre . (See in of the lateral traction of the tyres of the last trailer.tends
particular, the wOIk of the Swedish Road and Tr.Iffic to further exaggerate the yaw motions of this unit. ThUs.
Research Institute as reviewed in reference [3].) this measure of rearward amplification increases for the
Analyses in the frequency domain show that the more severe manoeuvres.
frequency content of the idealized wave form of the The cohunn graph of figure 10 illustrates the
double lane change manoeuvre is more closely potential influence of accelerometer mOllIlting aDd
concentrated about the centre frequency than it is for a location on measnred rearward amplification. These data
single lane change manoeuvre. See reference [4]. Thus, derive from single lane change tests. The simulated
the experimental observation woWd seem to be readily vehicle was "equipped" with four accelerometers in each
explained by the concepts discussed here. unit. Two were frame-fIXed; that is, their sensitive axis
Comparison between the two types of single lane rolled with the vehicle. The other two were not allowed
change In order to investigate the difference between to roll. but always measured in the horizontal direction
the path-following lane change where the lateral as if mounted on a gyroscopically stabilized platform.
acceleration is prescribed and the lane change with the One of each lype was located in the sprung mass at its
steering input prescribed, sinmJations were conducted centre of gravity. The others were located in dle sprung
with a vehicle model of a combination, consisting of a mass at the same longitudinal position, but at dle height
three-axle truck. a two-axle dolly and a 1hree-axle of the roll axis. As expected. the data show that the
semitrailer, with a GCW of 62 t. The model has yaw and signal of the frame-fIXed accelerometer is significantly
lateral tIanslational degrees of freedom. The test speed infblenced by a gravitational cmnponent, especially in
was 80 km,Ih. The rearward amplirICations d lateral the trailer which suffers greater rolling due to generally
acceleration and yaw velocily as a function of the higher accelerations. Further. the roll motion itself
frequency of the one period sinusoidal are shown in significantly contributes to measured accelerations,
figures 6 and 7. It appears from the results that the lateral depending on the mounting height of the accelerometer.
acceleration gains for this vehicle are very similar. For Figure 11 illustrates three methods of detennining
the yaw velocity gains however the difference is rearward amplification from the response time histories
approximately 10 %. These results are not general. The of a single lane change manoeuvre . In real testing, it is
results may be different for different vehicle not possible for the driver (or steering machine) to
combinations. Obviously the results from the two produce a perfectly sinnsoidal wave fOIDl at the tractor.
different lane change manoeuvres should not be Further, the trailer response is usually asymmetric with
expected to be identical. The difference between them is the second half of the wave baving greater absolute
however smaller than the difference between lane magnitude and longer duration than the first.
change and pseudo randmn steering input. Since trailer rollover is a primary concem, maximum
Sensitivities of rearward amplification measurement absolute trailer lateral acceleration has usoilly been used
During the development of the standard test to clwacterize trailer response. even though the
procedmes, the sensitivity of measnred rearward behavior is asymmetric. However. researchers have used
amplification to factors other than the general test several metbods to characterize dle tractor input in an
method were also examined. Some of the influences effort to yield more consistent measnremen~ d
investigated were those due to manoeuVre severity, amplification.[5,6,7]
instrument type and location, and data reduction method. In the three data reduction methods illustrated here,
Results appear graphically in figures 8tbrough 13. All d tractor motion is characterized by (1) the maximum
these results derive from simulation studies of the same absolute value from the trace, (2) the average of the
US-Slyle double, and all are tractor-to-second-trailer absolute values of the positive and negative peaks, and
amplifications. Brief comments on the results follow. -(3) an "equivalent peak" value derived from the RMS
Figures 8 and 9 show the infblence of manoeuvre valne of the tractor signal.
severi~ on rearward amplification of lateIal acceleration Figures 12 and 13 show resnlts obtained for dle three
and yaw velocity, respectively. These results were data reduction methods applied to lateral acceleration
obtained from single lane change tests. Each show a and yaw velocity behavior of the simulated US-sty le
moderate sensitivi~ of the result to the amplitude d double. The graphs show a significant spread in results
466
ARTICULATED VEIDCLE BEHAVIOR
obtained by the three methods. Particularly with. respect simulated pnlse steer tests OIl surfaces of plus and minus
to yaw velocity, however, the average-peak and RMS- 3 percent, respectively. A substantial difference in
peak methods do tend to agree fairly wen. response is readily apparent with. the motion of the
vehicle being obviously more damped when traveling
FREE RESPONSE uphill rather than downhill.
The pulse inpnt test method described above is The vehicle which generated the data of figure 15
intended to elicit a free response of the aI1icu1ated was arranged to be relatively lightly damped by locating
vehicle under study, in order that certain d its damping the coupling 3-meters after of the truck drive suspension
and mode shape characteristic may be observed. and by making the hitch load only 5 percent of trailer
Articulated vehicles have several natural modes d weight. Similar simulated test runs were also made with
yaw response. In a yaw plane analysis. the number d two other, more heavily damped vehicle. One was
«
natnral modes is equal to the number yaw aI1iculation another version of the truck and centre axle trailer with
joints plus ODe. The modes of yaw plane motion of an half the hitch ovedlang and twice the hitch load. The
aI1icuIated vehicle vary in damping characteristics and third vehicle was the US-style double.
mode shape. Typically the shapes derive. from Figure 16 is a plot of the measured yaw damping ratio
combinations in which successive units yaw more-or- as a function of the longitudinal slope of the test surface,
less in phase with one another or more-or-Iess out d for all three of these vehicles. Although the level of
phase. The in-phase modes tend to be wen damped while damping for the three vehicles is quite different. all show
the ont-of-phase modes may not be. The equations d a similar sensitivity of damping to the longitudinal slope
motion of articulated vehicles with. full trailers typically of the test SOIface. The sensitivity appears to be strongest
decouple at the pintle hitch joint so that the natural when the level of damping is lowest. The sensitivities
modes of the fnll trailer and its towing unit (truck or range from 2.2 percent damping per percent slope for the
tractor sem.itrailer) are independent. (For examples. see lightly damped truck trailer to 1.2 percent damping per
references [2,6,7] ). percent slope for the well-damped US double~ (Note that
In theory, the pulse steering inpnt contains all the US-style double is very well damped in its yaw
: frequencies and is intended to generate responses of all response. Distingnishing the difference in damping
modes of yaw motion. Thus. early on in the pnlse inpnt shown in figure 16 by actual test would not be practical
.test, the vehicle response should contain all modes of for this vehicle, OOt is possible using "noiseless"
.yaw motion. However, motions of the well damped simulation.)
modes die OI1t quickly leaving only the less damped,
. oscillatory modes. In practice then, the procedure tends ACKNOWLEDGEMENTS
. to be most useful for characterizing the least-damped
mode of the vehicle (or, possibly, least damped DlOdes if The anthoIS would like to acknowledge the valuable
the vehicle decouples). contriootions of all the expert members of ISOrrC22/
Tests with. the previously mentioned vehicle SC9/WG6 to the draft standards. Active members of
combination. consisting of a three-axle tractor, a three- WG6 are I.Aurell, P.Hirigoyen, THiromatsu,
axle semitrailer and a three-axle centre axle trailer, were LLadstedt, KLahti, DLescail A.Magg, O.NordstrOm,
perfoIDled in order to detennine the zero damping speed. l.Preston-Thomas, P.Rnijs, B.Toporski, F.Uffebnann,
The damping was calulated from .the signal of the S.Walterspiel, C.Wmkler.
articulation angle between the trailers at a number «
vehicle speeds, starting at the lowest one. These REFERENCES
dampings were plotted versus the speed according to
figure 14. The zero damping speed was then estimated 1. ISOrrC22/SC9/WG6 N14 , Road Vehicles - Heavy
by linear regression. Commercial Vehicle Combinations and Articulated
In developing the specifications for this method, it Buses - Lateral Stability Test Procedure
was noted by members of the wmking group that, in
2. Sayers, M.W., "Symbolic Computer Methods to
experiDlental wOIk, the strength of the oscillatory
Automatically FoImu1ate Vehicle Simulation Codes."
response of some vehicles seemed to be sensitive to the
PhD. dissertation, University of Michigan, Febmary
longitudinal slope of the test course. A brief simulation
1990.
study was undertaken to examine the influence of slope
on yaw damping of aI1icu1ated vehicles. 1
The primary vehicle for this study was a 2l-tonne,
three-axle truck towing an l8-tonne, two-axle centre I The simulation used for this task allowed constant
axle trailer. This vehicle was subject to pnlse steer runs velocity operation on a sloped plane. The constraint
on slopes ranging from -3 percent (downhill) to +3 force needed to maintain constant velocity of the entire
pen:ent (uphill). vehicle was applied at the center of gravity of the tractor.
Thus, the trailing units were towed or restrained by
Figure 15 presents time histories of the lateral longitudinal forces at the couplings. Aerodynamic and
acceleration response d the trailer of this vehicle in rolling resistances were not included.
467
ROAD TRANSPORT TECHNOLOGY--4
3. Nordstrom. O. "Stability, steerabilily and braking 7. Fancher, PF., and Winkler, C.B. "A Test Methodology
perfOIIDaDCe of heavy vehicles: A review of for Detennining Rearward Amplification." Third
experimental and theoretical research and regulation International Symposium on Heavy Vehicle Weights and
proposals by VIl in Sweden." Heavy Vehicle Systems, Dimensions. Queens College, Cambridge, United
International Joumal of Vehicle Design. Vol 1. No. 1. Kingdom. June 28 - JuJy 2, 1992.
1993.
8. MallikaIjUDaIao, C.; Fancher, P. "AnaJ;ysis of the
4. ISOII'C22!SC9 N 309 - Methods of investigating the directional response characteristics of double tankers."
dynamic stability of commercial vehicle combinations - Highway Safely Resean::h Institute. Presented at the
Swedish consideraticms. April 1987 . Sociely of Automotive Enc,crineers, Tmck. Meeting, 11-14
Dec 1978, Dearbom, Mich. 20 p. Report No. SAE
5. ErvinR.D. Fancher, p.s. Gillespie, T.D. Wmlder, C.B. 781064. 1978.
Wolfe, A. "Ad hoc study of certain safely -related aspects
of double-bottom tankers." Highway Safety Research 9. Fancher, P.S. 'The transient directional response of
Institnte. Final report. 78 p. Report No. UM-HSRI-78- full trailers." Presented at the Sociely of Automotive
18-1. 1978. Engineers, Tmck and Bus Meeting and Exposition, 8-11
Nov 1982, Indianapolis, Ind. 22 p. Report No. SAE
6. Billing, J.R.. Meteer, W., and Stephenson, W.R. 821259. 1982.
''Procedures for Test -.of Baseline and Additional
Vehicles. Ontario Ministry of Transportation and
Communications. No. CV-86-01. Downsview Ontario.
June 1986.
468
ARTICULATED VEIDCLE BEHAVIOR
~
2
=> 1.5
V \
J
e
time iD
2o/p freq
" 1\
Figure 1. The frequeucy content of a single wave is 0.5 ~
distributed about a frequency close to lIP Hz
I "'-~
o i
o 0.2 0.4 0.6 0.8
Frequency [Hz]
1-Pseudo random ..... Single lane change I
Figure 4. Lateral acceleration gain of a tractor,
semitrailer and centre axle trailer combination
measured by the pseudo random and path-following
lane change methods
o·
x 1 -~
fr~ fr~
~------------------~
Figure 2. Experiments using a series of ~e lane changes yield a ''smoothed'' version of the system gain.
T" ......
~ 1.5 c1.5
o
~
-
" ""-
"
u
i
u
/
1.0
~ 0.5
"- "\..
j 0.5 '--
o
o .25 0.5 .75 1.0
Maneuver frequency, hz
"'
1.25
~
1.5
o
o 0.2 OA
Frequency [Hz]
0.6 0.8
469
ROAD TRANSPORT TECHNOLOGY-4
Jr'
."".,. ~
~
..l.
- ..........
~
,~
o i .~ 1.8
~Je. ! u
1.5 ~-......-:---~
(51------1 1h.6
as
J -0- 20 sec period ~
(5 *9* ~
CB
1.4 1+-2.5 sec period
.£ 1.0* ..Jl.2
~ 1~--------__~f_O--~----~ 1.0
0* o .05 .10 .IS .20 .25
: 0 Maneuver severity; tractor Iateral acceleration. g
i
!
i
I
Figure 8. The influence of manoeuvre severity on
0.5 h------~!----__r_1 rearward amplification of lateral acceleration in a
i single lane change manoeuvre
o path~followin~
1* sine-wave st~er 24
i
o~====::::±======..J 2.2
.J. ~
o 0.5 1
.520 L. ~ ~
afrequency" CB
~
1:10 :=
! 1.8
r
Figure 6. Lateral acceleration gain for two different
lane change manoeuvres ~ 1.6
>- J ~ 20 sec period
1.4
L+- 2.5 sec period
1.2
1.0
o . 0 5 · .10 .IS .20 .2S
Rearward amplification of yaw-rate Maneuver severity; tractor lar.eral acceleration. g
2 Figure 9. The influence of manoeuvre severity on
!
~ rearward amplification of yaw velocity in a single
i
lane change manoeuvre
o ooo!i
0
1.5 *~*in
u .... • 0 Rearward
0* ~* °0
* i *
* ~----4 2.5 .~
* co
c:
2.0.g
! E
1.5 .2
0.5
I
~ ~~~1.0~
~
!!
o path-followin~
!
0.5 .:s
1* sine-wave stter
,
o
o 0.5 1 Tractor Second trailer
afrequency" Mounting height of accelerometer
470
ARTICULATED VEIDCLE BEHAVIOR
45
40
~
35 "- 1
"'- ';0....
~ 1
15
1 T"'-.
10 ~ I
Trailer peak -~J
5 1 ~
Simple: maximum absolute value, usually 1Nl
Average: one half of peak-to-peak magnitude. (IPI+INJ)I2 o 1 1"I
50 60 70 80 90 100 110 120 130
RMS: (RMS of tractor signal over the period) I sin( ~4)
Speed (Iunlhl
Figure ll. Three methods for determining the Figure 14. Linear reagression of damping at different
characteristic peak acceleration of the tractor speeds for estimation of zero damping speed.
Measnred on a tractor - semitrailer - centre axle
trailer combination
2.4
.--..... Io..=---
.A ~
)0., ~
- ~ ~
C .15
.20
I
~
On a 3-percent
IT/' .E
! .10 ~ downgrade -
rI' Q to-
'8.05 "
~Simple ~~od
~
... 0
·1 ~ ~.l\ J\ l'
*' Averagepeakpeakmethod
~ RMS
method
~ 'is
~
.!!-.05
~
I
rj ~ V'V V
I- ... 1
1.0
I I
Q
~-.10
~ V
On a 3-percent-
o .05 .10 .15 .20 .25 Eo-
-.15
upgrade
Maneuver severity; tractor lateJal acceleration. g o 5 10 15 20 25 30
T1Dle-~
Figure 12. The infInence of data rednction method on
rearward amplification of lateral acceleration in a Figure IS. Time histories of trailer lateral
single lane change manoenvre acceleration response to a pulse in steering (lightly
damped truck centre axle trailer at a forward speed
of96km/h)
2.4 70
~~ US-style double ....I
2.2
.: 2.0
~ V ............. ~~
~/ ~
" ~60
~50
~
"
v- o
~1.8 /' =
~40
rMorc heavily damped
~ 1.6
>-
1.4
1.2
~ Simple peak method
... Average peak method
~ RMS peak method .
i-
-
8-
.E
<;j
~ 20
c
30
.- truckltrailer
~--'
C. ~ Lightly damped_
I E 10 truck/trailer
1.0 CG
471
Path Compliance In Lane-Change Tests Designed To Evaluate Rearward
Amplification
Road transport technology-4. University of Michigan Transportation Research Institute, Ann Arbor, 1995. 473
ROAD TRANSPORT TECHNOLOGY-4
variety of simulation and field measurements had shown that
the peak rearward amplification of most heavy combination
vehicles occurs around 0.4 Hz. The second compelling
factor was the attractive degree of simplification that could E 1.5
be obtained by conducting tests at a single path frequency
rather than over a range of frequencies.
-0.5 L.........u..............L.........L.........i.........,jI.........4.......J............w........J..............J.........4....o.II
Since that time, an ISO Working Group (lSOITC22! -30 -20 -10 0 10 20 30 40 50 60 70 80 90
SC91WG6) has met on a number of occasions to develop Longitudinal Displacement, m
recommendations for a broader set of lateral stability test Figure 1. The single-Iane-change test of J2179 and the
procedures for heavy commercial vehicle combinations and draft ISO proposal.
articulated buses. A variety of tests are covered in the
current draft ISO proposal, including one for a single-Iane-
change manoeuvre to evaluate rearward amplification in a
manner very similar to that defined in J2179. The draft ISO displacement Y11ll1% ina single lane-change manoeuvre depen~
proposal differs, however, in that it recommends that the on the frequency and amplitude of the manoeuvre, and IS
test be repeated at a number of different path frequencies to defined as '
allow the peak rearward amplification to be identified from
the test results. (2)
474
ARTICULATED VEIDCLE BEHAVIOR
accelerations of the tractor CG, and where OyJTaiJerJlellk_l and used to define the ideal path. In this case, the envelope
are the corresponding values for the CG of the
OyJTtIi/erftIJl:_2 BCDE in Figure 2 defines the limits of the various
rear-most vehicle unit. In practice, the lateral acceleration frequency/magnitude combinations that can be used to
of the tractor CG is closely approximated by that of the produce paths that lie within the specified tolerances for a
tractor steer axle - a quantity that is much easier to particular ideal path.
measure because of the limited amount of axle roll that
occurs - and this, together with the use of a root-mean- The envelope in Figure 2 has been established for an
square evaluation of the steer-axle lateral acceleration for ideal path designed for a vehicle speed of 24.4 mls
improved consistency, is the basis of the definition in the (88 km/h), a peak lateral acceleration of 0.15 g, and a
SAE Recommended Practice. frequency of 0.4 Hz (point A in the figure). The inset
graphs show the path entries that are associated with various
RWA max(lavlJiluJUk..ll, lay_rrailu...Deaul) frequency/magnitude combinations at the edges of the
ME - (4)
fi ay...srur_~_mri envelope, along with dotted lines showing the ± 150 mm
tolerance from the ideal path. For example,· the path
A third, slightly different definition used later in this paper, defined with a frequency of 0.22 Hz and a magnitude of
combines portions of the SAE and ISO approaches in 0.053 g (point E on the BCDE envelope) is shown in both
defining RWAlt_avg as the ratio of the same maximum trailer the left and the lowest inset graphs as path E, a path that
acceleration used in Eq. (1) and (2) to the average of the begins early on the outside tolerance boundary, skims past
two peak steer-axle accelerations. the inside boundary, and then passes through the centre
point of the lane-change on its way to an exit that is a
mirror image of the entry. Among these completely
PAm TOLERANCE sinusoidal paths, path E represents the one with the lowest
frequency and amplitude that can be used to negotiate the
THE FIXED ISO-MM PAm TOLERANCE O.4-Hz, 0.15-g lane-change in an acceptable manner.
The ± 150 mm path tolerance shown in Figure 1 Similarly, point C identifies the frequency/magnitude
introduces a degree of uncertainty about the magnitude and combination for the path with the highest possible
freqllency of the~Path_takenbythe steer axle of a frequency.
vehicle that successfully traverses the course. While actual
paths can be expected to have a very wide range of potential In practical terms, the. paths traced by vehicles
characteristics, it is useful to consider a simplified situation conducting a physical test are not restricted to the single-
in which the actual steer-axle path remains sinusoidal, but frequency-and-amplitude content of the paths considered in
where the frequency and magnitude are different from those Figure 2. A single acceptable path traced by a typical
1 00
7
6
C:
,--....
0"> 5 c
'--'"
4
C
0
-+-'
3
0
L
ID 2
ID
U 1.5
U
0
0 1 0- 1
L
ID
-+-' 7
0 a,. = 0.15 g
-l 6 f=O.4 Hz
E
5 0 v=24.4m1s
4 Tolerance = :I:: J5 cm
3
2 3 4 5 6 7 8 9 100
Frequency (Hz)
Figure 2. An envelope defining the sinusoidal path frequency/magnitude combinations that can be used to
successfully negotiate the J2179 lane-change manoeuvre.
475
ROAD TRANSPORT TECHNOLOGY~
vehicle can be expected to contain a variety of frequency 101
and magnitude components, some of which will range .2
C
6 ....... O.3Hz
E:::3 Rgure 3a
beyond the boundaries of the envelope in Figure 2. In -0... 5
4 ---- O.4Hz
O.5Hz
addition, a real path will not necessarily be symmetric about Q)
3 -~.'
the centre point of the lane change. Nevertheless, the
Gi
(.)
i
I I .:::...-... - :
envelope in Figure 2 provides an indication of the general
(.)
c
2
I , :'~'
: ",-:~ , .. "
nature of the frequency/amplitude variations that can be
...
"0
Q)
100 I ; r .....:. .. '
]
expected in paths that will be acceptable for the specified 6
test.
~
.~
"0
Q)
5
4
3
, . ..... -, ,
E ... 2
,1:l:IOOmmL
Figure 2 shows that a vehicle could successfully 0
Z
negotiate the J2179 path at frequencies that are substantially 10-1
different from the nominal path frequency of 0.4 Hz - at 3 4 5 6 7 8 100 2 3 4
frequencies as low as 0.22 Hz and as high as 0.85 Hz, and Normalized frequency
that the peak lateral accelerations could range
correspondingly from the nominal 0.15-g value down to
0.053 g and up to 0.55 g.
~~~~i~:~l_'~
~-~~;~~r5"'i '
Q)
Gi 3
(.)
-
(.)
C
2
i ' .....::!'
i
i :,' •••••••
~~#:......... ........ ~,' I
-r-I
VARIABLE PATH TOLERANCE E 100
l .
X~-·' , 1
476
ARTICULATED VElflCLE BEHAVIOR
€ _ 150(~)(0.4)2 (5)
1.8
0.15 f E
1.6
E
m
1.4
With a variable path tolerance of this nature, the amplitude/ E 1.2
CD
()
frequency variations for 0.15-g lane-change manoeuvres at ~
CD
0.3, 0.4, and 0.5 Hz would be represpnted by the outer Q o.s
envelope of Figure 3a, the middle envelope of Figure 3b, ! 0.6
and the inner envelope of Figure 3c, respectively. ~
...I 0.4
CD
lower than the ideal-path frequency. -2 -1.5 -1 '{).5 0 o.s 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6
) Tune. s
Figures Sa and 5b show the corresponding lateral
Figures Sa,b. Measured steer-axle and log-CG lateral
accelerations of the steer axle and the log-payload centre of
accelerations for the vehicle/path combina-
gravity, along with the steer-axle lateral acceleration that
tions of Figure 4.
would have occurred if the steer-axle had followed the ideal
path precisely. The lack of path consistency is evident in a
corresponding lack of consistency among the steer-axle the manoeuvre.
lateral accelerations, although it is apparent that the
measured peak lateral accelerations of the steer axle are The lack of path consistency is attributed largely to the
generally lower than the nominal O.IS-g peak of the ideal difficulty encountered by the driver in achieving smooth and
path, and that the frequency of the actual path tends to be accurate variations in steering input at low levels of lateral
lower than the nominal path frequency in the exit region of acceleration, and contributes to the scatter observed among
477
ROAD TRANSPORT TECHNOLOGY-4
the five resulting rearward amplification values shown in amplification frequency response of the tractor/pole-trailer
Table 1. - a relationship that was not measured in the tests, and that
is thus best obtained through the use of computer
Figures 6, 7a, and 7b show a set of experimental results simulation.
for the same vehicle negotiating a nominal O.25-g, O.4-Hz
lane-change manoeuvre that was devised to achieve higher
levels of lateral acceleration and improved estimates of COMPARISON WITH SIMULATION
rearward amplification. For this purpose, the path tolerance Logging trucks such as the tractor/pole-trailer used in
was left at the fixed value of ± 150 mm recommended in the tests outlined above have design features that are
J2179. Of the nine attempts made to negotiate the lane-
change manoeuvre, three have been rejected for a lack of
contpliance with the ± 150-mm tolerance, and a further one
has been rejected for other reasons. The results shown in
the Figures and in Table 1 for the reinaining five runs
demonstrate that the attempt to reduce the rearward
i ~~~~;F~-----
1.6tf :
!"!
III
amplification estimation errors was successful.
1.4 :, _~ }W:- :
1.2': • '.1/1 . :
Among the five runs that were used to negotiate the .l!! 1 /11
nominal 0.25-g lane-change, none achieved a peak lateral ~ o.a if. :
acceleration of as much as 0.25 g, and all show the same ~ ~ _L.L" --
tendency to exhibit lower path frequencies in the exit region i
o
0.2
0
:::;:: .... =--=-.. : :;: . "".;;;qzr/
. . .:»... ~i-···-'-·-··--············· •...............--....-..---..............................,....-.----1
.£L!!f.l'
g 0.24~============~lJ:::~·~==:==:=::=:=::=:======1
Q 0.2E-
Nominal Test RWA"_",,,. based on: ti 0.16 E_··--;...·--··-:-···· .. .. ..,-.--.-....-......-........
-;-·-·-·"-·---;···-····-~········· fN.~\ c ................-....,.--.-.----j
0.15 46
Physical
Measurements
1.058
Simulation
Along the
Same Path
1.363
....
e~
...J
~.Q4
~.o8
0
0.Q4 t:----·.,-·--·c--·--- ,..-....~-........,..-ti
~~~~
E_--,--.. -;- ..--,-..-.-"T\1
.- .-;.- . ~.~.I~t::_=:'==~=J~~~~
~ ~12E_-'---;··--+--·~·~~--,~-------c-.----~-----., . -...-~--;--1
47 0.911 1.234 ~ ~.16 E_.-:.-....--....---.-.-.. " -\V·-III····-··-···········-·-······--·-····--······ .. __..............._............_.....__ ...........c_.--.j
49 1.188 1.105 :g ~ t:--.-.,.--,--....-,-.---,..-"\'fJ'1':
c;; ~.24 E-·-·--:---~··---·---:---v..-,--···..-···-····----·-c··--·--.........---. --····-·-,.----'---.,-----1
50 0.932 1.253 ~E_--~.-.- ~ . . ...-.-:---:-.----.c--..;...-.... ------c-·-.:._.____.____..... _,_.._..c_.__.c__ .... j
51 1.024 1.180 ~~~~~~~~~~~~~~~~~
Mean
CI-Ll
1.023
0.917
1.227
1.136
r:t:~E~~;::========1
0.32 E-
0.28
CI-lf 1.128 1.318 g
Cl 0.2~
0.24 ~======~r:x=:-;~~~:==:::==:.:T~::~:=:::::I
1.183 ~ 0.16 E_-+--,--,---.,---·····----.,--·-,f---;+
0.25 58 1.040 CD 0.12 E--"·-'--.,-----:--..··:-····..-'--F-·"-\"---,-,\\.--~-·-,·----:----.,-....-j
59 1.034 1.245 ~ 0.08 t:---,--•.,-..--:---,-..- ,.... --.,-.-/.,---... ,.--1/.. -...-.-.. -.-...\\\\
60 1.076 1.186 .... 0.Q4 t:---..-,...--...,.-.-....,.-..---,.-...... ;· ..·-····,--t·
478
ARTICULATED VEHICLE BEHAVIOR
~.-,-~,-~~~~~~~~,-,-,-~ to an accuracy of approximately ±40 mm, a higher degree
~ ...; ... --"",--."~....--,."-,,,,,.-~~ .. ,,~,,-...~-"--~.-~.,,--,,'---,-~
~
of accuracy was desired for the purpose of examining the
Cl 0.2 ~,,·,······,,···,,·-,,·;·,,···,·····,,···,"··-·"·"··"··-l
path-dependent variability of the results. To achieve this, a
g-
;;
0.16
0.12 ~." ..",.........".;..".. ,,-•...........,....................... " two-iteration procedure was developed in which the vehicle
i o.os E--..",,,...,," ·-·"-;--··",,,,,,,··,,··,,·····,,,,,,,,,··,,,,M· was first asked to track the desired path, and was
~ ~ E-...
~ ~
r-.~~~-i--'--·-'-·H c·"···"·";·····~··""·~·~",,,,,,;,,N',,~·····;·-·,,-;···- .. :. . -+
subsequently required to track a revised path that was offset
by the tracking error from the first iteration. This
~-0.08 procedure resulted in a final tracking error in the order of
-' -0.12 ±4 mm, and ensures that the results presented below are
!! ~16 E--" ...,-...."..,..."-_•..."".-;,,.,,\.
~ '().2 ,.-"-~.""" Ideal SI8er-Aldll La!. Ace.
not contamjnated by significant offtracking errors introduced
:g -0.24 . - ~SI8er-Aldll La!. Ace. in the simulation process.
W -0.28 E-.".• "." .."-..'-...".".-......:".-"...."-".,,...~....- ...".. "".. \ •• SI8er-Aldll La!. Ace. tram SImutaIDI
-Q.32 aIang -.eel paIh far Test B3
~ ~~~~~~~~~~~~~~~~
Figures 8a and 8b show a comparison between the
measured lateral accelerations for one of the runs through
~ ~------~~------------~~~~~ the nominal O.25-g lane-change manoeuvre and they show
~
Cl 0.2 E-."..,......."....•.... """ ..- ......."--.-"•.."-.-.,,.-":/·····-+·-d· the lateral accelerations predicted by the Log-Truck
g- 0.16 YawlRoll model for the same truck following the same path.
ii 0.12 The agreement between the predicted and the measured
:;; o.os E-" ••.....".... - ....;""....."""."."... -..........,....,,-/-:
"8 D.04 E-."-_.-."-.."-;..,,,,.,,;...-.-;.. -.,,.,,:..' steer-axle lateral accelerations is very good up to the 3.5-s
~ 0 ~~;;;;";';::'=::i:: point where no further path information was available. The
'ii ~ ~."::"".-.;."--" ..---.\
measured steer-axle acceleration includes some high-
:;; n no E--..,,·......·-···-.._; ..·-,,·:·l-·,,'·-·.. ,,,.,,-;. """I "".......,,,.,,-.,,....._....-',,..... ,,,,.....\..,,.,.....-,, ...'/'.
iii -v.ug
frequency components that are not contained in the
-' 12 E--., .............."....- ;."_.....:.+ . . ,.. ,,.--'i
~
.!! ~16 E-- ..,....... "";".".".-"".• -\.,,,.-} simulation results due to the relatively limited levels of
~ .().2 E--.........."-;.",,..-;.---',,-\ accuracy and bandwidth associated with the measured path
:g -0.24 E---;"..··..-"""-,--".-'-,,--'\d-'--.-I_:::t:df-~ fOr Teat B3 .
W -0.28 •• I..qtQ> La!. Ace. tram aimuIaIiOn
data. The measured and predicted log-CG accelerations in
-Q.32 slang -.eel paII1 fOr Test B3 Figure 8b show even better agreement, primarily because
-0.36 .. the mechanical system filtered out the high-frequency
·2 -1.5 -1 .().5 0 o.s 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6
responses of the lead unit.
Tune,s
Figures 8a,b. Comparisons between measured and Despite the apparently very good agreement, the
simulated tractor/pole-trailer lateral simulation results provide an RWAst_avg value of 1.175
accelerations for one of the five experimental compared to a value of 1.084 obtained from the measured
paths associated with the 0.25-g, O.4-Hz lane data. The RWAst_avg values for the five experimental paths
change manoeuvre. of Figure 6 are shown in Table 1. While the confidence
intervals for both the measured and simulated RWAst_avg
virtually unknown among conventional articulated highway values are reasonably narrow, it is clear that there is a
combinations. Principal among these are an additional yaw systematic tendency for the simulation process to slightly
articulation point and a sliding reach that connects the pole over-estimate the rearward amplification relative to the
trailer to the back of the vehicle unit ahead of it. The physical measurement process. A very similar, although
unique geometry of these configurations has been taken into slightly more pronounced, tendency was observed when the
account in the development of a new comprehensive Log- rms-based RWA.w; measures were used in place of the
Truck YawlRoll model (Tong et. al, 1995) patterned after RWAst_avg measures, and thus it was concluded that RWAst_avg
a YawlRoU model developed for conventional articulated measures would be used exclusively for the comparisons
vehicles at the University of Michigan Transportation presented here. Apart from the tendency to slightly over-
Research Institute. estimate RWA values, the comparisons in Figure 8 and
Table 1 show that the simulation model is fairly effective at
In both models it is assumed that the forward velocity estimating the yaw performance of the log truck
of the lead unit remains constant, and each of the vehicle configuration used in the physical tests.
units is characterized as a rigid body with five degrees of
freedom. The axles are treated as beam axles free to roll
and bounce, and the non-linear cornering force and aligning IDEAL-PAm FREQUENCY RESPONSE
torque characteristics of the tires are represented by tabular The Log-Truck YawlRoll Model was used to establish
input. Both simulation models include closed-loop path- the rearward-amplification frequency response of the
follower models that generate steering input based on a path tractor/pole-trailer by conducting more of the two-iteration
perceived with a representative degree of path preview and simulations described above along a number of ideal single-
driver lag. lane-change paths with frequencies ranging from 0.18 to
0.5 Hz. The paths were defined for a speed of 24.4 mls
While the path-follower models are capable offollowing and a peak lateral acceleration of 0.25 g. The resulting
the nominallane-change path or one of the measured paths discrete rearward amplification values are shown as "X"
479
ROAD TRANSPORT TECHNOLOGY--4
"stretched out" in the longitudinal direction and where the
maximum lateral displacement YI71I1% is increased (in
accordance with Eq. (2» to simulate an experimental path
with a lower nominal path frequency. Adjustments in the
converse direction can be made to simulate an experimental
path at a higher frequency. In both cases, the lateral
deviation of the experimental path from the ideal path
c: should remain constant. Figure 10 shows an example of the
o 1.15 --......;t-------"···--·---;····-·---··-·-·;-·-·--··-···---~
~
transformations of a single 0.4 Hz path to frequencies of
Slaw-ale RWA fnIm
Q. 1.1 sImuIIIIIon eIong 0.3 Hz and 0.5 Hz.
transbmed paIhs
E • PalhSB
< 1.05 ..........-. - Palh59
'E ... PalhIlO In mathematical terms, the y-coordinate Ypazh(X1,h) at an
; 1 -----c------: =::_ _---l
' - -_ x-coordinate Xl along the path associated with the new
!ii nominal path frequency f1 is defined as
a: 0.95 ...................................&.................J..........;,..,.L.o...............................................i...............J
CD
0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 Ypath(x1,ft) YideDI(xl'!,)
Frequency, Hz +{Ypath(Xo>fo) - YideDI(xo>fo)} (6)
Figure 9. Ideal-path and experimental-path frequency
response performance of a tractor/pole-trailer where YiJJetJJ(X1.h) is the ideal-path y-coordinate defined by
conducting a O.25-g lane change with a fixed Eq. (1) for the new frequency, where Ypazh{x"f,) is the
path tolerance of ± 150 mm. measured y-coordinate of an experimental path for the
nominal frequency fa of 0.4 Hz at an x-coordinate Xo> and
symbols in Figure 9, and the continuous ideal-path where YiJJetJJ{x"f,) is the ideal-path y-coordinate defined by
relationship is approximated by the wide solid line. Eq. (1) for the nominal frequency fa. The coordinate Xl is
scaled to the new nominal frequency by the equation
A second set of rearward amplification values
corresponding to the RWA/SO definition is shown in the (7)
figure with "+" symbols and a wide dashed line. The close
relationship between the two curves at low frequencies is
evident. The divergence at frequencies above 0.25 Hz
occurs as the tractor yaw rate becomes significant enough to
FIXED-TOLERANCE FREQUENCY RESPONSE
make the steer-axle lateral accelerations higher than the
Transformed experimental paths were defined at a
corresponding tractor-CG accelerations.
variety of frequencies between 0.18 and 0.5 Hz in the
manner described above, and additional .two-iteration
simulations were conducted to evaluate the response of the
EXPERIMENTAL-PATH FREQUENCY RESPONSE
tractor/pole-trailer to experimental paths over this frequency
range. The resulting RWA" <!Vg values are shown in
PATH TRANSFORMATION
Figure 9. -
The five simulation-based, 0.25-g, 0.4-Hz rearward
amplification values from Table 1 are shown as individual
symbols at the nominal path frequency of 0.4 Hz in
Figure 9. Simulations along the individual paths resulted in
a mean RWA,,_<!Vg value of 1.21 - a value slightly higher
than the ideal-path value of 1.18.
480
ARTICULATED VEIflCLE BEHAVIOR
The five experimental paths produced RWA values that 6 1.4 r---;----;------:--;=======il
~ ICIeBJ.path sirIadaIianB
are very tightly grouped at low trequencies, but that spread _; 1.35 TracIor.(;G RWA
out to allow an undesirable level of experimental error at ~ SIeer-llllleRWA
frequencies above 0.4 Hz. This characteristic is a direct :i 1.3
result of the fixed path tolerance that allows relatively large '!!
r··m·-·l~'''?~~~
path deviations at higher frequencies. In this particular
case, the results are such that at 0.2 Hz the 90% confidence
s'0
CD 1.25
1.2
t
1---"-'1-
interval extends from 1.191 to 1.201 - a range ofless than t:
o 1.15
~
1 % that is much tighter than necessary, whereas at O.S Hz
the corresponding interval extends from 0.99 to 1.19 - a a. 1.1
range of approximately 20%. E
< 1.05--
'E
In addition to the substantial uncertainty at higher ~
frequencies, there is an apparent tendency for the 1£iD 0.95 ...............J...............J,....................~...........................................................................
experimental-path RWA values to over-estimate the actual 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55
frequency response at frequencies above 0.3S Hz. This Frequency, Hz
over-estimation is the result of a frequency shift that will be
more readily visible when the results of the variable- Figure 11. Ideal-path and experimental-path frequency
tolerance simulations are examined. response performance of a tractor/pole-trailer
conducting a 0.2S-g lane change with a variable
If the results of these experimental~path simulations path tolerance defined by Eq. (8).
were used to define the peak rearward amplification of the
vehicle in the manner defined in the current draft ISO tolerances that were substantially higher than the .fixed
proposal, the result would be an estimated value of 1.28 at ISO-mm value.
a frequency of 0.25 Hz - a value that actually compares
very well with the ideal-path RWA of 1.30 at 0.28 Hz. The second effect visible in Figure 11 is that the
experimental-path RWA values appear to be uniformly
VARIABLE-TOLERANCE FREQUENCY RESPONSE shifted to the right of, and slightly below, the ideal-path
The sinusoidal-path envelope analysis presented earlier RWA curve. The shift is a direct result of the tendency for
in this paper suggested that a variable path tolerance of the the experimental paths to have actual lane-change
form presented in Eq. (S) might be more suitable for frequencies that are lower than the nominal lane-change
inclusion in the draft ISO proposal than a fixed path frequency (Le., that are characterized by
tolerance. The path transformation and simulation processes frequency/magnitude combinations in the region between
presented above make it relatively easy to examine the points A and E in Figure 2). The result is that the RWA
potential impact of this change. values that are associated with a nominal lane-change
frequency of 0.25 Hz, for example, are plotted at 0.25 Hz
The same five experimental paths measured during a in Figure 11, but are really the results of lane changes
0.2S-g, 0.4-Hz lane change were transformed using the where the predominant frequency is about 20% lower -
same process described above, except that the path tolerance around 0.2 Hz in this particular case.
e was varied according to the relationship
While the consistency of the frequency shift is at least
(8) partly attributable to the incestuous manner in which the
experimental paths were generated at frequencies other than
0.4 Hz, it seems reasonable to conclude that the truly
experimental paths that followed the nominal O.25-g, O.4-Hz
This variation differs from that presented in Eq. (S) to lane-change provided rearward amplification values for a
the extent that the base path tolerance of ± ISO mm is frequency that was 10 to 20 % lower than the nominal path
associated with a 0.2S-g, 0.4-Hz path rather than the O.IS-g, frequency. It also seems reasonable to conclude that a
O.4-Hz path defined in J2179. This variation is consistent similar tendency might exist even in situations where the
with the earlier selection of the O.25-g path over the O.lS-g paths at all of the other frequencies were truly experimental
path as a basis for determining the rearward amplification of too.
the tractor/pole-trailer.
The peak rearward amplification defined from the
The results of simulations along the transformed results of the variable-tolerance experimental-path
variable-tolerance paths are presented in Figure 11. It is simulations is approximately 1.24 at a frequency of 0 .32 Hz
evident that the introduction of variable path tolerances has - a value that is not quite as good an estimate of the ideal-
had two main effects. The first is that the experimental
path value of 1.30 at 0.28 Hz as was achieved with the
error is now relatively uniform throughout the frequency fixed tolerance approach, but that still represents a very
range, and was offset by the benefit of being able to conduct reasonable estimate considering the benefit of being able to
the low-frequency lane-change manoeuvres with path
481
ROAD TRANSPORT TECHNOLOGY-4
use higher path tolerances at lane-change frequencies below Anonymous; 1993. Surface Vehicle Recommended Practice
the baseline value of 0.4 Hz. Furthermore, the variable- - A Test For Evaluating the Rearward Amplification of
tolerance approach readily lends itself to uniform reductions Multi-Articulated Vehicles. SAE J2179. Society of
in experimental-path RWA error, simply by changing the Automotive Engineers.
constants in Eq. (5) or (8).
EI-Gindy, M. and Woodrooffe, J.H.F., 1991. "Influences
CONCLUSIONS of Tractor Wheelbase, Tandem-Axle Spread and Fifth-
Wheel Offset on Commercial Vehicle Dynamics", Technical
The fixed-path tolerance that is currently included in Report, No. TR-VDL-003, Vehicle Dynamics Laboratory,
SAE J2179 and in a draft ISO proposal for a set oflateral National Research Council of Canada, Ottawa.
stability test procedures allows vehicles to negotiate the lane
change with path frequencies and peak lateral accelerations Ervin, R.D. and Guy, Y., 1986. "The Influence of Weights
that vary substantially from the nominal path values. A and Dimensions on the Stability Control of Heavy Trucks in
simple sinusoidal path analysis has demonstrated that this Canada - Part 2 ., Technical Report, Vol. 2, Vehicle
tolerance has the potential to allow a vehicle to negotiate the Weights and Dimensions Study, RTAC, July.
SAE lane-cbange at actual frequencies that range from
approximately 60% to 200% of the nominal lane-change Ervin, R.D., and MacAdam, C.C., 1982. "The Dynamic
frequency of 0.4 Hz, with corresponding variations in peak Response of Multiply-Articulated Truck Combinations to
lateral acceleration from approximately 40% to 300%. Steering Input.· SAE Paper No. 820973.
Test results presented for a tractor/pole-trailer Hazemoto, T., 1973. "Analysis of lateral stability for
negotiating a 0.25-g, 0.4-Hz path with a fixed tolerance of doubles." SAE Paper No. 730688.
± 150 mm sbowed actual variations in path frequency in the
order of 10% to 20 %. The nature and magnitudes of these Jindra, F., 1965. "Handling characteristics of tractor-trailer
variations need to considered when this single-Iane-change combinations." SAE Paper No. 650720.
method is used to estimate rearward amplification.
Mallikarjunarao, C., and Fancher, P., 1978. "Analysis of
The use of a fixed path tolerance for paths with the directional response characteristics of double tankers. n
frequencies or peak lateral acceleratioils that vary from the SAE Paper No. 781064.
baseline 12179 values of 0.4 Hz and 0.15 g results in
substantial variations in the experimental error that is Nordstrom, 0., and Strandberg, L., 1978. "The dynamic
attributable to accepted path variations. A fixed tolerance stability of heavy vehicle combinations. VTI publication.
of ± 150 mm provides extremely low experimental errors at
low frequencies and high lateral accelerations, but this is Preston-Thomas, J., 1994. "Measured Characteristics and
achieved at the expense of having to stay within the Dynamic Performance of Two Configurations of Western
specified tolerance over a path that is much longer and that Canadian Log Truck." NRC Report CSTT-HWV-TR-002.
has a substantially higher. lateral offset than the baseline National Research Council Canada.
J2179 path. Conversely, the fixed tolerance results in
unacceptably high experimental errors at frequencies above Tong, X., Tabarrok, EI-Gindy, M., 1995. "Computer
the baseline value of 0.4 Hz. Simulation Analysis of Canadian Logging Trucks." Joint
report of The University of Victoria and the National
A variable path tolerance has been proposed in which Research Council Canada. In press.
the magnitude of the tolerance varies directly with the
nominal peak lateral acceleration and inversely with the Winkler, C.D., MallikaIjunarao, C., and MacAdam, C.C.
square of the nominal path frequency. This variable 1981. "Analytical test Plan: Part 1 - description of
tolerance has the effect of making the path-based simulation models, parametric analysis of heavy track
experimental errors relatively independent of frequency and dynamic stability." Report of the University of Michigan
magnitude. While it is certainly desirable to maintain lower Transportation Research Institute, April.
experimental errors at low frequencies wherever possible,
the variable path tolerance provides a recognition of what Winkler, C.B., et al., 1992. "Heavy vehicle size and
should be required rather than what might be desirable. weights - test procedures for minimum safety
performance." Final technical report to NHTSA. UMTRI-
92-13. University of Michigan Transportation Research
REFERENCES Institute.
Anonymous, 1994. Draft Proposal for an International
Standard - Road Vehicles - Heavy Commercial Vehicle
Combinations and Articulated Buses - Lateral Stability Test
Procedure. ISO/TC2/SC9IWG6 N14.
482