1. Department of Signals and Systems Integrated Control of Propulsion, Braking and Steering of Long Modular Heavy Vehicle Combinations Jonas Fredriksson Department of Signals and Systems Chalmers University of Technology

2. Department of Signals and Systems INTEGRATED CONTROL OF PROPULSION, BRAKING AND STEERING OF LONG MODULAR HEAVY VEHICLE COMBINATIONS START- AND END DATE: 2011-03-01 – 2016-03-01 PARTNERS: Volvo GTT and Chalmers PROGRAMME: Fordonsstrategisk Forskning och Innovation (FFI) – Energi & miljö BUDGET: 8 985 800 SEK (4 414 250 SEK Energimyndigheten) PHD STUDENT: Maliheh Sadeghi Kati

3. Department of Signals and Systems Agenda Background Project status Summary/Conclusion

4. Department of Signals and Systems Heavy Vehicle Combination Topologies 3 of 8 Conventional vehicle combinations Maximum length of 18.75 m Maximum weight of 40 tons In Europe Modular vehicle combinations Maximum length of 25.25 m Maximum weight of 60 tons In Sweden and Finland Prospective modular vehicle combinations

5. Department of Signals and Systems Equations Transport efficiency Environmental impact Safety >+ <+ = 1 > 1 + 1 1 < 1 + 1 1 = 1

6. Department of Signals and Systems Safety regulations/standards Longitudinal PBCs –Startability –Gradeability –Acceleration capability –Stopping distance –Down-grade holding Lateral PBCs –Rearward Amplification –Low Speed Swept Path –High Speed Transient Offtracking –High Speed Steady-state Offtracking –Yaw Damping Ratio –Straight Line Offtracking –etc Today: Prescriptive regulations and standards Put restrictions on the vehicle design (dimensions and mass) and specifying how the vehicle combinations should look like but not how they should perform on the road. Proposal: Performance Based Characteristics

7. Department of Signals and Systems Tractor+semitrailer Vs A-double Smart dolly: The aim is to study the performance of an A-double combination (double load capacity) compared to an EU-standard tractor-semitrailer.

8. Department of Signals and Systems Tractor+semitrailer Vs A-double Longitudinal PBCs: Lateral PBCs:

9. Department of Signals and Systems Tractor+semitrailer Vs A-double Longitudinal PBCs: Lateral PBCs:

10. Department of Signals and Systems Tractor+semitrailer Vs A-double Longitudinal PBCs: Lateral PBCs:

11. Department of Signals and Systems Summary/Conclusion Framework for evaluating long vehicle combinations, PBCs –Swedish Transport Adminstration Propulsion, Braking and Steering can improve the performance of long vehicle combinations Future work: –Robust control of long vehicle combinations

12. Department of Signals and Systems Thank you! jonas.fredriksson@chalmers.se