Maneuverability of the Road Train in the System Smart City

Abstract

When organizing cargo transportation in a smart city, it is necessary to take into account that vehicles have different overall dimensions and designs, which determine their operational properties: maneuverability and directional stability. This is especially important for semitrailer tractor-trailers with non-turning wheels. The complexity of driving such a combination is due to the instability of the control object when driving in reverse. Most tractor-trailers are manually piloted. With the manual operation, there are difficulties associated with the training of drivers to drive the combination truck and, in particular, the process of parking and its accurate delivery to the object. Therefore, there is a need to automate the process of road train movement, which would reduce the influence of the human factor on the parking process, as well as reduce the time required to perform the maneuver. Based on the developed mathematical model of the rearward movement of the road train and the proposed law of controlling the rotation of the front wheels of the tractor, the conditions for bringing the road train to a stable course movement in reverse are obtained. The method of controlling the road train movement and projects of devices realizing it are proposed. The results of simulation modeling allowed us to determine the required values of the motion control law for the road train links of different lengths. Preferable variants of the initial positions of the road train to realize a precise approach are determined.