An automatically reconfigurable software-based safety system for rear-steering multi-unit vehicles

摘要

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.