Computer system and computer-implemented method of reducing the risk of jack-knifing of a vehicle combination using friction

Abstract

A computer system (13) comprising processing circuitry (17) configured to receive data indicating that a present path (23) of a vehicle combination (1) comprising a first vehicle combination member (3) and a second vehicle combination member (5) coupled to the first vehicle combination member (3) by a fifth-wheel coupling (7) is a descending path; and provide a command encoding instructions to control an actuator (15) to increase a friction between the first vehicle combination member (3) and the second vehicle combination member (5).

Description

COMPUTER SYSTEM AND COMPUTER-IMPLEMENTED METHOD OF REDUCING THE RISK OFJACK-KNIFING OF A VEHICLE COMBINATION USING FRICTIONTECHNICAL FIELD[1] The disclosure relates generally to vehicle motion management. In particular aspects, the disclosure relates to stabilization of a vehicle combination using controlled friction between a first vehicle combination member and a second vehicle combination member. The disclosure can be applied to heavy-duty vehicles, such as trucks, buses, and construction equipment, among other vehicle types. Although the disclosure may be described with respect to a particular vehicle, the disclosure is not restricted to any particular vehicle, but is applicable to all vehicle combinations including a first vehicle combination member and a second vehicle combination member coupled to the first vehicle combination member by a fifth-wheel coupling.BACKGROUND[2] In a vehicle combination, such as a tractor semitrailer combination, certain driving conditions may result in so-called jack-knifing. To prevent such a catastrophic event, the articulation angle of the vehicle combination may be monitored, and the vehicle dynamics may be controlled with the aim of keeping the articulation angle lower than some threshold angle. The control of the vehicle dynamics may involve to control the amount of braking of individual wheels of the vehicle combination.[3] For a battery electric vehicle (BEV) in general, regenerative braking is crucial for the energy efficiency of the vehicle. In a battery electric tractor semitrailer vehicle combination, controlling the amount of braking of individual wheels in order to prevent jackknifing may result in sub-optimal use of regenerative braking, and thus lower energy efficiency.[4] It would be desirable to be able to control a battery electric tractor semitrailer vehicle combination in such a way that jack-knifing can be prevented without sacrificing the energy efficiency of the vehicle combination.SUMMARY[5] According to a first aspect of the disclosure, there is provided a computer system comprising processing circuitry configured to receive data indicating that a present path of avehicle comprising a first vehicle combination member and a second vehicle combination member coupled to the first vehicle combination member by a fifth-wheel coupling is a descending path; and provide a command encoding instructions to control an actuator to increase a friction between the first vehicle combination member and the second vehicle combination member. The first aspect of the disclosure may seek to provide for prevention of jack-knifing without sacrificing the energy efficiency of an electric vehicle combination in which the first vehicle combination member is an electric vehicle combination member controllable to brake using regenerative braking. A technical benefit may include to allow maximum possible regenerative braking even during descents in slippery conditions, while preventing the occurrence of jack-knifing. The actuator may be configured to increase friction in respect of relative yaw plane motion between the first vehicle combination member (such as a tractor) and the second vehicle combination member (such as a semitrailer). The yaw plane refers to the xy-plane using well-established geometry conventions for vehicle motion management of a vehicle, where the x-direction refers to the horizontal longitudinal direction for the vehicle, the y-direction refers to the horizontal lateral (sideways) direction for the vehicle, and the z-direction refers to the vertical direction for the vehicle.[6] Optionally in some examples, including in at least one preferred example, the computer system may be further configured to determine the command based on the received data. A technical benefit may include the ability to tailor the friction to the particular driving situation. For instance, the descending path may be non-straight, and the command may encode instructions to control the actuator to increase the friction between the first vehicle combination member and the second vehicle combination member by an amount that relates to the radius of curvature of the descending path. A technical benefit of this may include the ability to increase the friction between the first vehicle combination member and the second vehicle combination member by an amount that is tailored to at least compensate for the loss of lateral friction force margin between driving wheels of the first vehicle combination member and the road surface resulting from the regenerative braking.[7] Optionally in some examples, including in at least one preferred example, the command provided by the processing circuitry may encode instructions to control the actuator to increase a contact force between a friction member coupled to the first vehicle combination member and a surface of the second vehicle combination member. A technicalbenefit may include that the desired controllable friction for relative yaw plane motion between the first vehicle combination member and the second vehicle combination member can be achieved without, or at least only with minor, modification to the second vehicle combination member (such as a semitrailer). This, in turn, provides for safe operation with increased regenerative braking substantially independently of which second vehicle combination member (such as a semitrailer) is coupled to the first vehicle combination member (such as a tractor).[8] Optionally in some examples, including in at least one preferred example, the actuator may be spaced apart from the fifth-wheel coupling by a given distance in the yaw plane (the xy -plane), and the computer system may be further configured to determine the command additionally based on the given distance. A technical benefit may include that the actuator can be conveniently controlled to achieve torque equilibrium in respect of the rotational axis defined by the fifth-wheel coupling.[9] Optionally in some examples, including in at least one preferred example, the computer system may be further configured to receive data indicating that a present path of the vehicle combination is a non-descending path and that an upcoming path of the vehicle combination is descending path, which may be non-straight, and provide a command encoding instructions to control the actuator to a standby state. A technical benefit may include that the time needed to control the actuator to increase the friction may be reduced, which in turn provides for improved stabilization performance.

[0010] Optionally in some examples, including in at least one preferred example, the computer system may be configured to: receive data indicative of at least a speed of the vehicle, a radius of curvature of the present path, and an inclination angle of the vehicle combination on the present path; determine, based on the received data, a torque required at the fifth-wheel coupling to prevent jack-knifing while allowing maximum regenerative braking; determine a setting for an actuator arranged to provide a vertically directed contact force between a surface of the second vehicle combination member and a friction member coupled to the first vehicle combination member and arranged at a given horizontal distance from the fifth-wheel coupling, resulting in at least the determined torque; and provide a command encoding instructions to control the actuator to the determined setting. A technical benefit may include to allow maximum possible regenerative braking even during descents in slippery conditions, while preventing the occurrence of jack-knifing.

[0011] Optionally, the computer system according to the first aspect of the disclosure may be comprised in a vehicle.

[0012] Optionally in some examples, including in at least one preferred example, the vehicle may be a trailer tractor and may further comprise: a fifth-wheel for coupling with a kingpin of a semitrailer; and an actuator controllable by the computer system to increase a friction between the vehicle and the semitrailer, when the kingpin of the semitrailer is coupled to the fifth-wheel.

[0013] Optionally in some examples, including in at least one preferred example, the vehicle may further comprise a friction member movably coupled to a frame of the vehicle; and the actuator may be fixedly coupled to the frame of the vehicle and arranged and configured to controllably apply a vertically directed force to the friction member, to thereby push the friction member against the semitrailer, while the kingpin of the semitrailer is coupled to the fifth-wheel. A technical benefit may include to conveniently provide for controllable friction between the tractor and the semitrailer, in respect of relative yaw plane motion.

[0014] Optionally in some examples, including in at least one preferred example, the actuator may comprise at least one bellows and a flow control device for controlling flow of air into and out of the bellows under control of the computer system of the vehicle. A technical benefit may include to provide fast and safe control of the friction, while allowing dual use of existing systems that may already be included in an air braking system of the vehicle.

[0015] According to a second aspect of the disclosure, there is provided a computer- implemented method of reducing the risk of jack-knifing of a vehicle combination including a first vehicle combination member and a second vehicle combination member coupled to the first vehicle combination member by a fifth-wheel coupling, the method comprising: receiving, by a computer system, data indicating that a present path of the vehicle combination is a descending path; and providing a command encoding instructions to control an actuator to increase a friction between the first vehicle combination memberand the second vehicle combination member. The second aspect of the disclosure may seek to provide for prevention of jack-knifing without sacrificing the energy efficiency of an electric vehicle combination. A technical benefit may include to allow maximum possible regenerative braking even during descents in slippery conditions, while preventing theoccurrence of jack-knifing. The actuator may be configured to increase friction in respect of relative yaw plane motion between the first vehicle combination memberand the second vehicle combination member. The yaw plane refers to the xy-plane using well-established geometry conventions for vehicle motion management for a vehicle, where the x-direction refers to the horizontal longitudinal direction for the vehicle, the y-direction refers to the horizontal lateral (sideways) direction for the vehicle, and the z-direction refers to the vertical direction for the vehicle.

[0016] Optionally in some examples, including in at least one preferred example, the method may further comprise determining the command based on the received data. A technical benefit may include the ability to tailor the friction to the particular driving situation. For instance, the descending path may be non-straight, and the command may encode instructions to control the actuator to increase the friction between the first vehicle combination member and the second vehicle combination member by an amount that relates to the radius of curvature of the descending path. A technical benefit of this may include the ability to increase the friction between the first vehicle combination member and the second vehicle combination member by an amount that is tailored to at least compensate for the loss of lateral friction force margin between driving wheels of the first vehicle combination member and the road surface resulting from the regenerative braking.

[0017] Optionally in some examples, including in at least one preferred example, the command may encode instructions to control the actuator to increase a contact force between a friction member coupled to the first vehicle combination member and a surface of the second vehicle combination member. A technical benefit may include that the desired controllable friction for relative yaw plane motion between the first vehicle combination member and the second vehicle combination member can be achieved without, or at least only with minor, modification to the second vehicle combination member. This, in turn, provides for safe operation with increased regenerative braking substantially independently of which second vehicle combination member is coupled to the first vehicle combination member.

[0018] Optionally in some examples, including in at least one preferred example, the actuator may be spaced apart from the fifth-wheel coupling by a given distance in the yaw plane (the xy-plane), and the method may comprise determining the command additionally based on the given distance. A technical benefit may include that the actuator can beconveniently controlled to achieve torque equilibrium in respect of the rotational axis defined by the fifth-wheel coupling.

[0019] Optionally in some examples, including in at least one preferred example, the method may further comprise receiving data indicating that a present path of the vehicle combination is a non-descending path and that an upcoming path of the vehicle combination is a descending path, which may be non-straight, and providing a command encoding instructions to control the actuator to a standby state. A technical benefit may include that the time needed to control the actuator to increase the friction may be reduced, which in turn provides for improved stabilization performance.

[0020] Optionally in some examples, including in at least one preferred example, the method may comprise: receiving data indicative of at least a speed of the vehicle combination, a radius of curvature of the present path, and an inclination angle of the vehicle combination on the present path; determining, based on the received data, a torque required at the fifth-wheel coupling to prevent jack-knifing while allowing maximum regenerative braking; determining a setting for an actuator arranged to provide a vertically directed contact force between a surface of the second vehicle combination member and a friction member coupled to the first vehicle combination member and arranged at a given horizontal distance from the fifth-wheel coupling, resulting in at least the determined torque; and providing a command encoding instructions to control the actuator to the determined setting. A technical benefit may include to allow maximum possible regenerative braking even during descents in slippery conditions, while preventing the occurrence of jack-knifing.

[0021] According to a third aspect of the disclosure, there is provided a computer program product comprising program code for performing, when executed by the processing circuitry, the method of the second aspect of the disclosure.

[0022] According to a fourth aspect of the disclosure, there is provided a non-transitory computer-readable storage medium comprising instructions, which when executed by the processing circuitry, cause the processing circuitry to perform the method of the second aspect of the disclosure.

[0023] The disclosed aspects, examples (including any preferred examples), and / or accompanying claims may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. Additional features and advantages are disclosed in thefollowing description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein.

[0024] There are also disclosed herein computer systems, control units, code modules, computer-implemented methods, computer readable media, and computer program products associated with the above discussed technical benefits.BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Examples are described in more detail below with reference to the appended drawings.

[0026] FIG. 1 is an exemplary vehicle combination according to an example.

[0027] FIG. 2 is an exemplary computer system according to an example.

[0028] FIG. 3 is an exemplary method according to an example.

[0029] FIG. 4 is an exemplary illustration of an exemplary descending driving situation.

[0030] FIG. 5 is an exemplary vehicle combination according to an example, for illustrating an example actuator arrangement in a top-down view.

[0031] FIG. 6 is an exemplary vehicle combination according to an example, for illustrating an example actuator arrangement in a side view.

[0032] FIG. 7 is an exemplary method according to an example.

[0033] FIG. 8 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein, according to an example.DETAILED DESCRIPTION

[0034] The detailed description set forth below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the disclosure.

[0035] Fig. 1 is an exemplary vehicle combination 1 according to an example. Referring to Fig. 1, the vehicle combination 1 comprises a first vehicle combination member 3 and a second vehicle combination member 5 coupled to the first vehicle combination member 3 by means of a fifth-wheel coupling 7. In this example vehicle combination 1, the first vehicle combination member 3 is an electric vehicle, here in the form of a battery electric vehicle (BEV) tractor 3. In this example vehicle combination 1, the second vehicle combination member 5 is a semitrailer 5. It should be noted that the present disclosure is not limited thisexample vehicle combination 1, but applies to many other vehicle combinations in which a first vehicle combination member 3 and a second vehicle combination member 5 are coupled to each other by a fifth-wheel coupling 7.

[0036] Referring again to Fig. 1, the BEV tractor 3 has a battery pack 9 and driving wheels 11 coupled to an electric drive train (not visible in Fig. 1). Further, the BEV tractor 3 comprises a computer system 13 and an actuator 15 controllable to increase a friction between the BEV tractor 3 and the semitrailer 5, in respect of relative yaw plane motion between the BEV tractor 3 and the semitrailer 5. In accordance with well-established nomenclature for vehicle motion management, the yaw plane may also be referred to as the xy-plane. Fig. 1 shows one example of a vehicle combination 1 having a fifth-wheel coupling 7 for articulated coupling between a tractor and a semitrailer type load. It should be noted that the present disclosure relates to other vehicle combinations with other configurations. Examples of such other configurations may include the case where the BEV tractor 3 comprises a so-called dolly, and the fifth-wheel coupling 7 couples the semitrailer 5 to the dolly.

[0037] Fig. 2 is an exemplary computer system 13 according to an example. The computer system 13 comprises processing circuitry 17, and is coupled to the actuator 15, and to at least one data source. Exemplary data sources are represented in Fig. 2 by a sensing system 19 comprised in the vehicle combination 1 and a remote data source represented by the cloud 21 in Fig. 2. It should be noted that the computer system 13 need not necessarily be included in the BEV tractor 3, but that it may be at least partly included in another part of the vehicle combination 1, or partly or wholly included in a cloud solution, so that processing by the processing circuitry 17 is performed remotely from the vehicle combination 1. If included in the BEV tractor 3, the computer system 13 may be provided in the form of a centralized vehicle control unit, or as (a part of) a distributed vehicle control system, which may, for example, include a vehicle motion management control unit.

[0038] Fig 3 is an exemplary computer implemented method according to an example. Referring to the flow-chart in fig 3, the method comprises receiving 301, by the computer system 13, data indicating that a present path of the vehicle combination 1 being a descending path. Such data may be received from, for example, one or more inclination sensor(s) comprised in a sensing system 19 of the vehicle combination. Alternatively, or in combination, the data may be received from a data source that is remote from the vehiclecombination 1. Such a data source 21 may be cloud-based, and may, for instance, provide elevation data for a number of map co-ordinates and / or elevation data for the particular map co-ordinate where the vehicle combination 1 presently is located. To enable this, positioning data may be provided from the vehicle combination 1.

[0039] In response to receiving this data, the processing circuitry 17 of the computer system 13 provides 302 a command encoding instructions to control the actuator 15 to increase a friction between the BEV tractor 3 and the semitrailer 5 in the vehicle combination 1.

[0040] When the vehicle combination 1 is on a descending path, it may be necessary to retard the vehicle combination 1 for safe operation and / or for keeping the speed limit. In the case of, for example, the vehicle combination 1 in Fig. 1 with a BEV tractor 3 and non-driven wheels of the semitrailer 5, it would be desirable to provide as much as possible of the required retardation using regeneration, whereby the battery pack 9 of the BEV tractor 3 can be charged. In particular when the road friction is relatively low, such as in the case of rain, snow, ice, or leaves, the maximum possible level of regeneration may be determined by the friction between the driving wheels 11 and the road surface. If this maximum possible level of regeneration is utilized, there is no friction margin left for providing a laterally directed friction force, which may be required to prevent the driving wheels 11 from sliding laterally in relation to the road surface. For a tractor semitrailer vehicle combination 1, lateral sliding of the driving wheels 11 in relation to the road surface may cause the vehicle combination 1 to end up in a jack-knife situation, which is of course highly undesirable.

[0041] By controlling the actuator 15 to increase the friction between the tractor 3 and the semitrailer 5, in respect of yaw plane motion, the driving wheels 11 can be prevented from sliding laterally in relation to the road surface even when there is insufficient (or no) friction margin left for providing a laterally directed friction force between the driving wheels 11 and the road surface. Accordingly, increased regeneration is provided for, while preventing jackknifing of the vehicle combination 1.

[0042] Consider Fig. 4, which is an exemplary illustration of an exemplary descending driving situation. In the descending driving situation in Fig. 4, the present path 23 of the vehicle combination l is a non-straight descending path with a radius of curvature R. Considering the driving wheels 11, the lateral force Fyrequired to keep the driving wheels 11 traveling along the present path 23 when the vehicle combination is traveling with the speedvxis given by:

[0044] When there is high friction between the driving wheels 11 and the road surface - such as in the case of dry asphalt - both this lateral force Fyand the longitudinal retarding force Fxresulting from the regenerative braking can be provided by the friction force at the surface of contact between the driving wheels 11 and the road surface. When there is lower friction - such as in the case of wet asphalt, snow, ice, leaves, oil, etc. - the friction force at the surface of contact between the driving wheels 11 and the road surface may not be sufficient, but the requirements on the total friction force between the driving wheels 11 and the road surface needs to be reduced. If the longitudinal retarding force Fxresulting from the regenerative braking is reduced, the amount of regenerated electrical energy is reduced, resulting in reduced range for the vehicle combination 1. According to aspects of the present disclosure, this is at least partly mitigated by instead allowing a reduction in the lateral force that needs to be provided by friction between the driving wheels 11 and the road surface.

[0045] Fig. 5 is an exemplary vehicle according to an example, for illustrating an example actuator arrangement in a top-down view, and Fig. 6 is an exemplary vehicle according to an example, for illustrating an example actuator arrangement in a side view.

[0046] Referring first to Fig. 5, which is a partial top view of a vehicle combination 1 according to an example, the BEV trailer 3, in this example configuration, comprises a frame including a longitudinally (x-direction) extending first beam 25a and a longitudinally (x- direction) extending second beam 25b. At the back of the BEV trailer 3, a laterally (y- direction) extending third beam 27 is fixed to the first 25a and second 25b longitudinally extending beams. Vertically (z-direction) on the third beam 27 first 29a and second 29b bellows are arranged, and vertically on the first 29a and second 29b bellows, a friction member 31 is arranged. The friction member 31, which is here shown in the form of a laterally extending beam, is movable coupled to the first 25a and second 25b longitudinally extending beams via linkage 33a-b. The bellows 29a-b can be inflated or deflated by an air supply control unit 35, in response to instructions - indicated by the arrow in Fig. 5 - encoded in a command provided by the processing circuitry 17 of the computer system 13 in Fig. 2. When the bellows 29a-b are inflated, the friction member 31 is urged upwardsresulting in an (increased) contact force between the friction member 31 and the opposing surface of the semitrailer 5. This aspect is clearer in Fig. 6.

[0047] Referring to Fig. 6, which is a partial top view of a vehicle combination 1 configuration in Fig. 5, the contact force Fazbetween the friction member 31 and the opposing surface of the semitrailer 5 is indicated. Also schematically indicated in Fig. 6, for this example configuration, are the longitudinal (x-direction) distance la between the fifthwheel coupling rotational axis 37 and the driving wheel axle and the longitudinal (x- direction) distance lb between the fifth-wheel coupling rotational axis 37 and the center of the contact area between the friction member 31 and the lower surface of the semitrailer 5. In this example configuration, to enable maximum regeneration while maintaining stability of the vehicle combination 1, the bellows 29a-b may be controlled to apply a sufficient contact force Faz between the friction member 31 and the opposing surface of the semitrailer 5 to maintain torque equilibrium in respect of the fifth-wheel coupling rotational axis 37 even when all of the available friction between the driving wheels 11 and the road surface are used for regenerative braking. The condition for force equilibrium becomes:

[0048] Fyla= iFazlb, where p is the coefficient of friction for the contact between the friction member 31 and the opposing surface of the semitrailer 5.

[0049] Fig. 7 is an exemplary method according to an example. Referring to the flowchart in Fig. 7, the method first, optionally, comprises receiving 701, by the processing circuitry 17 of the computer system 13, data indicating that a present path of the vehicle 1 is a non-descending path and that an upcoming path of the vehicle is a descending path. In response to the received data, the processing circuitry 17 provides 702 a command encoding instructions to control the actuator 15 to a standby state. With reference to the example configuration of the actuator 15 in Fig. 5 and Fig. 6, controlling the actuator 15 to the standby state may, for instance, involve to control the air supply control unit 35 to inflate the bellows 29a-b to bring the friction member 31 in contact with the semitrailer 5. These optional pre-activation actions may serve to improve the responsiveness of the actuator 15.

[0050] Following this optional pre-activation, or as a first action, data indicative of at least a speed of the vehicle 1, a radius R of curvature of the present path 23, and theinclination angle of the vehicle on the present path is received 703, by the processing circuitry 17 of the computer system 13. The processing circuitry 17 then determines 704, based on the received data, a counter-torque required at the fifth-wheel coupling 7 to prevent jack-knifing while allowing maximum regenerative braking. The processing circuitry 17 determines 705 a setting for an actuator 15 arranged to provide a vertically directed contact force Faz between a surface of the semitrailer 5 and a friction member 31 coupled to the tractor 3 and arranged at a given horizontal distance lb from the fifth-wheel coupling 7, resulting in the determined torque. Finally, the processing circuitry 17 provides 706, to the actuator 15, a command encoding instructions to control the actuator 15 to the determined setting. With reference to the example configuration of the actuator 15 in Fig. 5 and Fig. 6, the command may be provided to the air supply control unit 35 to inflate (or further inflate) the bellows 29a-b to increase the contact force between the friction member 31 and the opposing contact surface of the semitrailer 5.

[0051] Fig. 8 is a schematic diagram of a computer system 1000 for implementing examples disclosed herein, such as for implementing examples of the control circuitry 23 of the drive train arrangement 5 according to examples. The computer system 1000 is adapted to execute instructions from a computer-readable medium to perform these and / or any of the functions or processing described herein. The computer system 1000 may be connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 1000 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and / or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, processing circuitry, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.

[0052] The computer system 1000 may comprise at least one computing device or electronic device capable of including firmware, hardware, and / or executing software instructions to implement the functionality described herein. The computer system 1000 may include processing circuitry 1002 (e.g., processing circuitry including one or more processor devices or control units), a memory 1004, and a system bus 1006. The computer system 1000 may include at least one computing device having the processing circuitry 1002. The system bus 1006 provides an interface for system components including, but not limited to, the memory 1004 and the processing circuitry 1002. The processing circuitry 1002 may include any number of hardware components for conducting data or indication processing or for executing computer code stored in memory 1004. The processing circuitry 1002 may, for example, include a general-purpose processor, an application specific processor, a Digital indication Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processing circuitry 1002 may further include computer executable code that controls operation of the programmable device.

[0053] The system bus 1006 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and / or a local bus using any of a variety of bus architectures. The memory 1004 may be one or more devices for storing data and / or computer code for completing or facilitating methods described herein. The memory 1004 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 1004 may be communicably connected to the processing circuitry 1002 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 1004 may include non-volatile memory 1008 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory 1010 (e.g., random-access memory (RAM)), or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with processing circuitry 1002. A basic input / output system (BIOS) 1012 may be stored in the non-volatile memory 1008 and can include the basic routines that help to transfer information between elements within the computer system 1000.

[0054] The computer system 1000 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 1014, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 1014 and other drives associated with computer-readable media and computer-usable media may provide nonvolatile storage of data, data structures, computer-executable instructions, and the like.

[0055] Computer-code which is hard or soft coded may be provided in the form of one or more modules. The module(s) can be implemented as software and / or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device 1014 and / or in the volatile memory 1010, which may include an operating system 1016 and / or one or more program modules 1018. All or a portion of the examples disclosed herein may be implemented as a computer program 1020 stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 1014, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processing circuitry 1002 to carry out actions described herein. Thus, the computer-readable program code of the computer program 1020 can comprise software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 1002. In some examples, the storage device 1014 may be a computer program product (e.g., readable storage medium) storing the computer program 1020 thereon, where at least a portion of a computer program 1020 may be loadable (e.g., into a processor) for implementing the functionality of the examples described herein when executed by the processing circuitry 1002. The processing circuitry 1002 may serve as a controller or control system for the computer system 1000 that is to implement the functionality described herein.

[0056] The computer system 1000 may include an input device interface 1022 configured to receive input and selections to be communicated to the computer system 1000 whenexecuting instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processing circuitry 1002 through the input device interface 1022 coupled to the system bus 1006 but can be connected through other interfaces, such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 1000 may include an output device interface 1024 configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 1000 may include a communications interface 1026 suitable for communicating with a network as appropriate or desired.

[0057] The operational actions described in any of the exemplary aspects herein are described to provide examples and discussion. The actions may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the actions, or may be performed by a combination of hardware and software. Although a specific order of method actions may be shown or described, the order of the actions may differ. In addition, two or more actions may be performed concurrently or with partial concurrence.

[0058] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including" when used herein specify the presence of stated features, integers, actions, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, components, and / or groups thereof.

[0059] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[0060] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another elementas illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[0061] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0062] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the disclosure being set forth in the following claims.

Claims

ClaimsWhat is claimed is:

1. A computer system (13) comprising processing circuitry (17) configured to: receive data indicating that a present path (23) of a vehicle combination (1) comprising a first vehicle combination member (3) and a second vehicle combination member (5) coupled to the first vehicle combination member (3) by a fifth-wheel coupling (7) is a descending path; and provide a command encoding instructions to control an actuator (15) to increase a friction between the first vehicle combination member (3) and the second vehicle combination member (5).

2. The computer system of claim 1, wherein the computer system is further configured to determine the command based on the received data.

3. The computer system (13) of claim 1 or 2, wherein the command encodes instructions to control the actuator (15) to increase a contact force (Faz) between a friction member (31) coupled to the first vehicle combination member (3) and a surface of the second vehicle combination member (5).

4. The computer system (13) of claim 3, wherein: the friction member (31) is spaced apart from the fifth-wheel coupling (7) by a given distance (lb); and the processing circuitry (17) is further configured to determine the command additionally based on the given distance (lb).

5. The computer system (13) of any one of claims 1 to 4, wherein the processing circuitry (17) is further configured to: receive data indicating that a present path (23) of the vehicle combination (1) is a nondescending path and that an upcoming path of the vehicle combination (1) is a descending path; andprovide a command encoding instructions to control the actuator (15) to a standby state.

6. The computer system (13) of any one of claims 1 to 5, wherein the processing circuitry (17) is configured to: receive data indicative of at least a speed of the vehicle combination (1), a radius (R) of curvature of the present path (23), and an inclination angle of the present path (23); determine, based on the received data, a torque required at the fifth-wheel coupling (7) to prevent jack-knifing while allowing regenerative braking; determine a setting for an actuator (15) arranged to provide a vertically directed contact force (Faz) between a surface of the second vehicle combination member (5) and a friction member (31) coupled to the first vehicle combination member (3) and arranged at a given horizontal distance (lb) from the fifth-wheel coupling (7), resulting in at least the determined torque; and provide a command encoding instructions to control the actuator (15) to the determined setting.

7. A vehicle (1; 3) comprising the computer system of any of claims 1 to 6.

8. The vehicle (3) of claim 7 wherein the vehicle is a trailer tractor and further comprises: a fifth-wheel (7) for coupling with a kingpin of a semitrailer (5); and an actuator (15) controllable by the computer system (13) to increase a friction between the vehicle (3) and the semitrailer (5), when the kingpin of the semitrailer (5) is coupled to the fifth-wheel (7).

9. The vehicle (3) of claim 8, wherein: the vehicle further comprises a friction member (31) movably coupled to a frame (25a-b) of the vehicle (3); and the actuator (15) is fixedly coupled to the frame (25a-b) of the vehicle (3) and arranged and configured to controllably apply a vertically directed force to the frictionmember (31), to thereby push the friction member (31) against the semitrailer (5), when the kingpin of the semitrailer (5) is coupled to the fifth-wheel (7).

10. The vehicle (3) of claim 8 or 9, wherein the actuator (15) comprises at least one bellows (29a-b) and a flow control device (35) for controlling flow of air into and out of the bellows under control of the computer system (13) of the vehicle.

11. A computer-implemented method of reducing the risk of jack-knifing of a vehicle combination (1) including a first vehicle combination member (3) and a second vehicle combination member (5) coupled to the first vehicle combination member (3) by a fifthwheel coupling (7), the method comprising: receiving (301), by a computer system (13), data indicating that a present path (23) of the vehicle combination (1) is a descending path; and providing (302) a command encoding instructions to control an actuator (15) to increase a friction between the first vehicle combination member (3) and the second vehicle combination member (5).

12. The method of claim 11, further comprising: receiving (701) data indicating that a present path of the vehicle combination (1) is a non-descending path and that an upcoming path (23) of the vehicle combination (1) is a descending path; and providing (702) a command encoding instructions to control the actuator (15) to a standby state.

13. The method of claim 11 or 12, wherein the first vehicle combination member (3) is an electric vehicle combination member controllable to brake using regenerative braking, the method comprising: receiving (703) data indicative of at least a speed of the vehicle combination (1), a radius (R) of curvature of the present path (23), and the inclination angle of the vehicle combination (1) on the present path;determining (704), based on the received data, a torque required at the fifth-wheel coupling (7) to prevent jack-knifing while allowing maximum regenerative braking by the first vehicle combination member (3); determining (705) a setting for an actuator (15) arranged to provide a vertically directed contact force (Faz) between a surface of the second vehicle combination member (5) and a friction member (31) coupled to the first vehicle combination member (3) and arranged at a given horizontal distance (lb) from the fifth-wheel coupling (7), resulting in the determined torque; and providing (706) a command encoding instructions to control the actuator (15) to the determined setting.

14. A computer program product comprising program code for performing, when executed by the processing circuitry (17), the method of any of claims 11 to 13.

15. A non-transitory computer-readable storage medium comprising instructions, which when executed by the processing circuitry (17), cause the processing circuitry (17) to perform the method of any of claims 11 to 13.

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