The effectiveness of rear axle steering on the yaw stability and responsiveness of a heavy truck

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The effectiveness of rear axle steering on the yaw stability and responsiveness of a heavy truck

Kharrazi, Sogol / Lidberg, Mathias / Lingman, Peter / Svensson, Jan-Inge / Dela, Nicolas

Rear axle steering (RAS) at low speed is available in heavy trucks to improve their manoeuverability and reduce tyre wear; by extending the functionality ot the existing RAS to high speed turning and split-mu braking, considerable safety benefits and enhancement in driver comfort can be gained. In this study, a RAS System was developed and simulated in Mutlab-Simulink which showed encouraging results. Furthermore, the developed system was implemented on a Volvo Truck and tested in a series of split-mu braking and ISO double lane change manoeuvers. The obtained results conform to the expectations. The tests showed that yaw rate error can be reduced by 64 % in high-speed turnings for a truck with RAS compared to the conventional truck. The driver workload will also be decreased considerably. The split-mu braking tests indicated that the braking distance can be reduced by at least 10 % with implementation of the RAS system along with a more aggressive ABS, while the required driver steering input to keep the truck in straight direction do not increase.