Patent ID: 11858492
Assignee: VOLVO TRUCK CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 5:
6. The method of claim 1, wherein the braking action is initiated, by the control unit, when the following condition is fulfilled:, ❘
   "\[LeftBracketingBar]"
  
  
   
    ϕ
    +
    
     
      
       ϕ
       ˙
      
      ⁢
      
       v
       x
      
     
     
      a
      x
     
    
    +
    
     
      
       
        ϕ
        ¨
       
       (
       
        
         v
         x
        
        
         a
         x
        
       
       )
      
      2
     
     /
     2
    
   
   ❘
   
    >
    
     ϕ
     lim, wherein vx corresponds to a reversing speed, ax corresponds to an achievable acceleration rate of the vehicle combination's braking system, Φ corresponds to the articulation angle, {dot over (ϕ)} corresponds to the first order time derivative of the articulation angle, {umlaut over (ϕ)} corresponds to the second order time derivative of the articulation angle and Φlim corresponds to the maximum safe articulation angle.