Truck Model for Yaw Dynamics Control

This report describes the derivation of a nonlinear model of a tractor-semitrailer combination vehicle. The purpose of the model is validation of yaw-control algorithms. The model include 4 DOF in lateral, longitudinal, and yaw motion. It is formulated as a state-spece model with 5 state variables. Additional states are added with the rotational dynamics of the wheels. The model includes a static description of load-transfer, and a fairly detailed tyre model. A linearized version of the model is also presented. The nonlinear model is implemented in Simulink (TM). Validation is performed by comparison with a multibody model. Examples of simulation outputs are given

Investigation and requirements of a computer control system in a heavy-duty truck

In this report, which is the first in a series of three reports, an existing computer control system in a heavy-duty truck from Volvo Truck Corporation has been investigated. The aim of the report and of the DICOSMOS case study at Volvo Technological Development is to design and study a future computer control system for a truck and semi-trailer vehicle combination. The functionality in focus is vehicle dynamics control, VDC, which assists the driver to maintain control of his vehicle in difficult situations

Proposal for a distributed computer control system in heavy-duty trucks

In designing safety-critical real-time distributed control-systems a great potential lies in combining methods within the areas of dependable computer systems and control theory. In this report a brake system on a heavy-duty truck is used as a case study to discuss the choice of distribution level of the computer system and the control algorithms. The distrubution levels of these system aspects are othogonal in the sense that they may be chosen independently for a certain system configuration. A system configuration is obtained by mapping a specific control algorithm architecture on a computer/communications architecture. To explore different system architectures the combinations of three different distribution levels for the control algorithms and computer/communication systems are investigated with respect to dependability and required information exchange. The result is a proposal on the choice of final distribution level of the brake system

Towards an Operational Design Domain That Supports the Safety Argumentation of an Automated Driving System

One of the biggest challenges for self-driving road vehicles is how to argue that their safety cases are complete. The operational design domain (ODD) of the automated driving system (ADS) can be used to restrict where the ADS is valid and thus confine the scope of the safety case as well as the verification. To complete the safety case there is a need to ensure that the ADS will not exit its ODD. We present four generic strategies to ensure this. Use cases (UCs) provide a convenient way providing such a strategy for a collection of operating conditions (OCs) and further ensures that the ODD allows for operation within the real world. A framework to categorise the OCs of a UC is presented and it is suggested that the ODD is written with this structure in mind to facilitate mapping towards potential UCs. The ODD defines the functional boundary of the system and modelling it with this structure makes it modular and generalisable across different potential UCs. Further, using the ODD to connect the ADS to the UC enables the continuous delivery of the ADS feature. Two examples of dimensions of the ODD are given and a strategy to avoid an ODD exit is proposed in the respective case.QC 20200204</p