Design of kinematic coupling of the rear wheels of a road trailer

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25510%2F25%3A39922915" target="_blank" >RIV/00216275:25510/25:39922915 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1007/s12239-025-00240-w" target="_blank" >https://doi.org/10.1007/s12239-025-00240-w</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s12239-025-00240-w" target="_blank" >10.1007/s12239-025-00240-w</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Design of kinematic coupling of the rear wheels of a road trailer

Popis výsledku v původním jazyce

This paper discusses the design of the kinematic coupling for the passage of an articulated vehicle combination through a bend. A lorry (tractor unit) and a semi-trailer as a trailer are used as an articulated vehicle combination. In the standard design of an articulated vehicle combination, the track of the wheels of the tractor unit wheels and the semi-trailer differs when passing through a bend. As a result, the track of the articulated vehicle combination (lane width) is increased when a bend is negotiated compared to when driving in a straight line. This situation restricts the handling of the vehicle in a limited space, such as city streets and lower-class roads. A mathematical relationship defining the steering angle of the steerable wheels on the axles of the semi-trailer is presented in the paper. It outcome is a set of kinematic equations indicating the partial steering angles of the steerable wheels of the semi-trailer, ensuring that these wheels copy the steering path of the tractor unit while simultaneously rolling smoothly on the road. The theoretical approach is also applied to a real interaction tractor unit and semi-trailer. The use of steerable wheels on a semi-trailer will significantly improve the handling of the entire articulated vehicle combination. A key benefit of this work is its relevance to autonomous vehicle control, where a smaller number of sensors monitoring the vehicle’s surroundings – while maintaining a high degree of safety – is fully sufficient for a semi-trailer.

Název v anglickém jazyce

Design of kinematic coupling of the rear wheels of a road trailer

Popis výsledku anglicky

This paper discusses the design of the kinematic coupling for the passage of an articulated vehicle combination through a bend. A lorry (tractor unit) and a semi-trailer as a trailer are used as an articulated vehicle combination. In the standard design of an articulated vehicle combination, the track of the wheels of the tractor unit wheels and the semi-trailer differs when passing through a bend. As a result, the track of the articulated vehicle combination (lane width) is increased when a bend is negotiated compared to when driving in a straight line. This situation restricts the handling of the vehicle in a limited space, such as city streets and lower-class roads. A mathematical relationship defining the steering angle of the steerable wheels on the axles of the semi-trailer is presented in the paper. It outcome is a set of kinematic equations indicating the partial steering angles of the steerable wheels of the semi-trailer, ensuring that these wheels copy the steering path of the tractor unit while simultaneously rolling smoothly on the road. The theoretical approach is also applied to a real interaction tractor unit and semi-trailer. The use of steerable wheels on a semi-trailer will significantly improve the handling of the entire articulated vehicle combination. A key benefit of this work is its relevance to autonomous vehicle control, where a smaller number of sensors monitoring the vehicle’s surroundings – while maintaining a high degree of safety – is fully sufficient for a semi-trailer.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20104 - Transport engineering

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

International Journal of Automotive Technology

ISSN

1229-9138

e-ISSN

1976-3832

Svazek periodika

26

Číslo periodika v rámci svazku

26

Stát vydavatele periodika

KR - Korejská republika

Počet stran výsledku

7

Strana od-do

1631-1637

Kód UT WoS článku

001477738600001

EID výsledku v databázi Scopus

2-s2.0-105004179965