Wang, L. and Zheng, H., "A Slip-Rate-Based Braking Force Distribution Algorithm for the Electronic Braking System of Combination Vehicle," SAE Technical Paper 2014-01-2385, 2014, doi:10.4271/2014-01-2385.
The paper focus on enhancing the braking safety and improving the braking performance of the tractor/trailer vehicle. A slip-rate-based braking force distribution algorithm is proposed for the electronic braking system of tractor/trailer combination vehicle. The algorithm controls the slip-rates of the tractor's rear wheels and the semi-trailer's wheels changing with the slip-rate of tractor's front wheels, making tractor's front wheels lock up ahead of the tractor's rear wheels and the semi-trailer's wheels. The algorithm protects the combination vehicle from jackknifing and swing, guaranteeing that the combination vehicle has better driving stability and steering capability. The algorithm can be tested by co-simulation with MATLAB/Simulink and TruckSim software both on high adhesion and low adhesion roads. The simulation results shows that the algorithm can control the wheels' slip-rate changing in the settled range and shorten the braking time, thus improves braking performance of tractor/trailer combination vehicle.