In order to introduce longer heavy vehicles with multiple articulation joints between vehicle units into the UK and other European countries, it is likely that rear steering of the vehicle units will be required to allow sufficient manoeuvrability. This has safety implications. This paper details the development of a modular and automatically reconfigurable safety system, appropriate to this safety-critical application. Details of the specification for the system, the state-chart basis for the system, the issues relating to coding within a safety system, the software and hardware interaction and the implications on the design are covered. Practical implementation of the system on the Cambridge Vehicle Dynamics Consortium’s reconfigurable long combination vehicle is outlined, and the initial test results of the system’s low-speed and high-speed steering functions and fault tolerance are presented.
WoodrooffeJAshL. Economic efficiency of long combination transport vehicles in Alberta. Final report, Woodrooffe & Associates, Ottawa, Ontario, Canada, 2001.
2.
Anon. Mechanics of heavy vehicle systems. Course, University of Michigan Transport Research Institute, Ann Arbor, Michigan, USA, 2007.
3.
WinklerCBErvinRD. Rollover of heavy commercial vehicles. Report UMTRI-99-19, University of Michigan Transport Research Institute, Ann Arbor, Michigan, USA, 1999.
4.
JujnovichBACebonD. Path-following steering control for articulated vehicles. Trans ASME, J Dynamic Systems Measmt Control2013; 135(3): 031006.
5.
ChengCRoebuckROdhamsAMCCebonD. High-speed optimal steering of a tractor–semitrailer. Veh System Dynamics2011; 49(4): 561–593.
6.
JeppesenBPCebonD. Real-time fault identification in an active roll control system. Veh System Dynamics, Suppl2002; 37: 360–371.
7.
RoebuckRLCebonDJeppesenBPHaqueJ. A systems approach to controlled heavy vehicle suspensions. Int J Heavy Vehicle Systems2005; 12(3); 169–192.
8.
JeppesenBPCebonD. Analytical redundancy techniques for fault detection in an active heavy vehicle suspension. Veh System Dynamics2004; 42(1–2): 75–88.
WhisnantKKalbarczykZTIyerRK. A system model for dynamically reconfigurable software. IBM Systems J2003; 42(1): 45–59.
11.
HelminenA. Reliability estimation of safety-critical software-based systems using Bayesian networks. Helsiniki: Edita Oyj, 2001.
12.
Anon. MISRA-C: 2004 – guidelines for the use of the C language in critical systems. Nuneaton, Warwickshire; MIRA Limited, 2004.
13.
JujnovichBACebonD. Comparative performance of semi-trailer steering systems. In: 7th international symposium on heavy vehicle weights and dimensions, Delft, The Netherlands, 16–20 June 2002, pp. 195–214. International Forum for Road Transport Technology.
14.
OdhamsAMCRoebuckRLCebonDWinklerCB. Dynamic safety of active trailer steering systems. Proc IMechE, Part K, J Multi-body Dynamics2008; 222(4): 367–380.
15.
RoebuckRLOdhamsAMCCebonD. Implementation of trailer steering control on a multi-unit vehicle at low speeds. 2014 (to be published).
16.
OdhamsAMCRoebuckRLCebonD. Reversing of a double-articulated heavy vehicle. 2014 (to be published).
17.
RoebuckRLChengCOdhamsAMCCebonD. High-speed optimal steering of multiply-articulated heavy vehicles. 2014 (to be published).
18.
Defence Standard 00-55 (Part 1)/ Issue 2Requirements for safety related software in defence equipment, Part 1: Requirements. Glasgow: Ministry of Defence, 1997.
19.
Defence Standard 00-55 (Part 2)/ Issue 2Requirements for safety related software in defence equipment, Part 2: Guidance. Glasgow: Ministry of Defence, 1997.
20.
Defence Standard 00-55 (Part 1)/ Issue 4Safety management requirements for defence systems, Part 1: Requirements. Glasgow: Ministry of Defence, 2007.
21.
Defence Standard 00-56 (Part 2)/ Issue 4Safety management requirements for defence systems, Part 2: Guidance on complying with Part 1, Issue 4. Glasgow: Ministry of Defence, 1997.
22.
IEC 61508-1Functional safety of electrical/electronic/programmable electronic safety-related systems – Part 1: General requirements. Geneva: International Eletrotechnical Commission, 1998.
23.
IEC 61508-2Functional safety of electrical/electronic/programmable electronic safety-related systems – Part 2: Requirements for electrical/electronic/programmable electronic safety-related systems. Geneva: International Eletrotechnical Commission, 2000.
24.
IEC 61508-3Functional safety of electrical/electronic/programmable electronic safety-related systems – Part 3: Software requirements. Geneva: International Eletrotechnical Commission, 1998.
25.
IEC 61508-4Functional safety of electrical/electronic/programmable electronic safety-related systems – Part 4: Definitions and abbreviations. Geneva: International Eletrotechnical Commission, 1998.
26.
IEC 61508-5Functional safety of electrical/electronic/programmable electronic safety-related systems – Part 5: Examples of methods for the determination of safety integrity levels. Geneva: International Eletrotechnical Commission, 1998.
27.
IEC 61508-6Functional safety of electrical/electronic/programmable electronic safety-related systems – Part 6: Guidelines on the application of IEC 61508-2 and IEC 61508-3. Geneva: International Eletrotechnical Commission, 2000.
28.
IEC 61508-7Functional safety of electrical/electronic/programmable electronic safety-related systems – Part 7: Overview of techniques and measures. Geneva: International Eletrotechnical Commission, 2000.
29.
Key statistics for London {and UK}. Spreadsheet D7644, Office for National Statistics, Newport, South Wales, UK, 2002.
30.
AhmedHSpreadburyPJ. Analogue and digital electronics for engineers: an introduction. Cambridge: Cambridge University Press, 1984.
31.
SmithDRFranzonPD. Verilog styles for synthesis of digital systems. Upper Saddle River, New Jersey: Prentice-Hall, 2000.
32.
BoochGRumbauchJJacobsonI. The Unified Modelling Language user guide. Reading, Massachusetts: Addison-Wesley, 1999.
33.
DeitelHMDeitelPJ. C++ how to program: introducing object-orientated design with the UML. 3rd edition.Upper Saddle River, New Jersey: Prentice-Hall, 2001.
34.
SamekM. Practical UML statecharts in C/C++: event-driven programming for embedded systems. 2nd edition.Oxford: Newnes, 2009.
RoebuckRLOdhamsATagessonK. Implementation of trailer steering control on a multi-unit vehicle at high speeds. Trans ASME, J Dynamic Systems Measmt Control2013; 136(2): 021016.
