论文标题
低速拖车操作期间侧滑对折刀限制的影响
The Effect of Sideslip on Jackknife Limits During Low Speed Trailer Operation
论文作者
论文摘要
具型人是指严重的情况，即车辆拖车系统进入折刀状态，如果不纠正拖车操作，车辆和拖车最终会发生碰撞。本文考虑了较低的拖车操纵拖车背衬的典型特征，在这种情况下，由于车辆，拖车和环境之间的物理相互作用引起的侧滑，折刀状态的限制可能会有所不同。考虑在车辆和拖车轮上侧滑的运动学模型的分析表明，应根据挂钩长度和拖车舌长度的比例将车辆拖车系统分为三类，每个比例都具有不同的行为。长拖车类别可能没有具型状态，而其他两个类别总是具有导致折扣的状态。据发现，折刀限制是具型式状态与可回收区域之间的边界，可以分为安全且不安全的限制，后者必须避免。模拟和物理实验支持这些结果，并提供有关车辆和拖车状态的含义的洞察力，从而导致折扣。仿真还证明了在拖车背倾机中考虑这些新的基于滑动折刀的限制的好处。
Jackknifing refers to the serious situation where a vehicle-trailer system enters a jackknife state and the vehicle and trailer eventually collide if trailer operation is not corrected. This paper considers low speed trailer maneuvering typical of trailer backing where jackknife state limits can vary due to sideslip caused by physical interaction between the vehicle, trailer, and environment. Analysis of a kinematic model considering sideslip at the vehicle and trailer wheels indicates that vehicle-trailer systems should be divided into three categories based on the ratio of hitch length and trailer tongue length, each with distinct behaviors. The Long Trailer category may have no jackknifing state while the other two categories always have states leading to jackknifing. It is found that jackknife limits, which are the boundaries between the jackknifing state and the recoverable regions, can be divided into safe and unsafe limits, the latter of which must be avoided. Simulations and physical experiments support these results and provide insight about the implications of vehicle and trailer states with slip that lead to jackknifing. Simulations also demonstrate the benefit of considering these new slip-based jackknife limits in trailer backing control.
