Este estudo contribui para um melhor entendimento do desempenho de veículos combinados em interseções de rodovias secundárias. A hipótese de que as normas nacionais e estrangeiras não são adequadas para permitir a compatibilidade entre a circulação desses veículos e a geometria horizontal de interseções em nível no Brasil é investigada. Através de processo de simulação demonstramos que, com relação ao arraste, o comportamento de veículos com mais de uma articulação pode ser bom, e por vezes melhor que o de veículos com apenas uma articulação, se considerados certos aspectos operacionais e de engenharia. Contamos que as autoridades de tráfego brasileiras passem a ser menos restritivas para com a regulamentação de dimensões de veículos combinados longos, tendo em vista o aumento de produtividade alcançado com o seu uso. Como a regulamentação brasileira tem sido tradicionalmente influenciada por normas e recomendações estrangeiras, tanto para o projeto e construção de vias como para a regulamentação de veículos, procuramos caracterizar as diferenças de comportamento dos veículos e as respectivas discrepâncias em relação às normas nacionais e estrangeiras. Esta avaliação visa fornecer elementos para um julgamento mais apropriado das condições brasileiras, para que possamos elaborar nossas próprias normas, promovendo melhores condições de segurança aos usuários dos sistemas de transporte rodoviário. / This study contributes to a better understanding of combination vehicle performance on secondary roadway intersections. The hypothesis that national and foreign rules are inadequate to provide compatibility of the traffic of these vehicles with the horizontal geometry of at grade intersections in Brazil is investigated. With respect to offtracking, and with due consideration to certain operational and engineering concerns, we have demonstrated, through a simulation process, that the behavior of vehicles with double articulation can be good, and at times even better than the behavior of single articulated vehicles. We expect that Brazilian roadway authorities will become Iess restrictive toward the regulation of longer combination vehicles, taking into consideration the increase in productivity achieved with their use. Since Brazilian regulatory agencies have been traditionally influenced by foreign standard rules and recommendations for highway design and construction, as well as regulation of vehicles, we have tried to characterize the differences in vehicle performance and the respective discrepancies in relation to national and foreign standards. The main objective of this evaluation is to present the elements that permit a more appropriate judgment of Brazilian conditions, so that we will be able to elaborate compatible rules and procedures, thus providing better safety conditions for users of roadway transportation systems.

Este estudo contribui para um melhor entendimento do desempenho de veículos combinados em interseções de rodovias secundárias. A hipótese de que as normas nacionais e estrangeiras não são adequadas para permitir a compatibilidade entre a circulação desses veículos e a geometria horizontal de interseções em nível no Brasil é investigada. Através de processo de simulação demonstramos que, com relação ao arraste, o comportamento de veículos com mais de uma articulação pode ser bom, e por vezes melhor que o de veículos com apenas uma articulação, se considerados certos aspectos operacionais e de engenharia. Contamos que as autoridades de tráfego brasileiras passem a ser menos restritivas para com a regulamentação de dimensões de veículos combinados longos, tendo em vista o aumento de produtividade alcançado com o seu uso. Como a regulamentação brasileira tem sido tradicionalmente influenciada por normas e recomendações estrangeiras, tanto para o projeto e construção de vias como para a regulamentação de veículos, procuramos caracterizar as diferenças de comportamento dos veículos e as respectivas discrepâncias em relação às normas nacionais e estrangeiras. Esta avaliação visa fornecer elementos para um julgamento mais apropriado das condições brasileiras, para que possamos elaborar nossas próprias normas, promovendo melhores condições de segurança aos usuários dos sistemas de transporte rodoviário. / This study contributes to a better understanding of combination vehicle performance on secondary roadway intersections. The hypothesis that national and foreign rules are inadequate to provide compatibility of the traffic of these vehicles with the horizontal geometry of at grade intersections in Brazil is investigated. With respect to offtracking, and with due consideration to certain operational and engineering concerns, we have demonstrated, through a simulation process, that the behavior of vehicles with double articulation can be good, and at times even better than the behavior of single articulated vehicles. We expect that Brazilian roadway authorities will become Iess restrictive toward the regulation of longer combination vehicles, taking into consideration the increase in productivity achieved with their use. Since Brazilian regulatory agencies have been traditionally influenced by foreign standard rules and recommendations for highway design and construction, as well as regulation of vehicles, we have tried to characterize the differences in vehicle performance and the respective discrepancies in relation to national and foreign standards. The main objective of this evaluation is to present the elements that permit a more appropriate judgment of Brazilian conditions, so that we will be able to elaborate compatible rules and procedures, thus providing better safety conditions for users of roadway transportation systems.

This dissertation details the methods and analysis of extensive physical tests and simulation conducted by the Center for Vehicle Systems and Safety (CVeSS) at Virginia Tech on the maneuverability, roll-stability, and brake type performance of 33-ft double trailers. Little literature exists for 33-ft doubles because they are uncommon on the U.S. roads due to current federal restrictions limiting long-combination vehicles to 28-ft doubles. With the continual rise in e-commerce, however, there is a push by package carriers on legislation to permit carriers to introduce 33-ft doubles into their fleets. Three separate studies detailed herein highlight 33-ft double trailers' off-tracking, roll-stability with stability control systems, and brake type influence on braking performance. The first study compares low-speed off-tracking of a 33-ft double to 28-ft double and 53-ft single configurations via simulation and full-scale tests. Novel numerical tractrix models are introduced and compared to existing models commonly used to evaluate low-speed off-tracking of long combination vehicles (LCVs). Unlike pre-existing models, accuracy of one of the proposed models is largely unaffected by input path resolution and regularity—a significant benefit for reducing computational cost and easing implementation for many applications. Full-scale tests are conducted at Virginia Tech and an extensive uncertainty analysis is detailed for the test procedure and measurements. Field tests compare favorably with simulations for all tested maneuvers and trailer configurations and clearly demonstrate the order from least to most off-tracking as 28-ft double, 33-ft double, and 53-ft single. The 33-ft doubles have slightly larger off-tracking than 28-ft doubles, whereas 53-ft singles have substantially larger off-tracking than 28-ft and 33-ft doubles. The second study evaluates 33-ft double straight-rail trailers rollover propensity with different stability control system implementations: stock (none), tractor electronic stability control (ESC), trailer roll-stability control (RSC), and RSC+ESC. Extensive test vehicle instrumentation and structural reinforcement are detailed for the test preparations. Tests are conducted on a test track with either driver or robot steering. On their own, both ESC and RSC clearly reduce the rollover propensity of the trailers for all maneuvers, and the trailers exhibit the highest roll-stability when both RSC and ESC are active. The tested ESC and RSC modules are off-the-shelf products from industry suppliers chosen by the program sponsor. The third study compares trailer drum and disc brake performance in three conditions: straight-line braking distance, brake type influence on RSC performance, and roll dynamics in a combined braking and turning maneuver. A braking robot is designed, fabricated, and implemented to provide precise and repeatable brake pedal application. Test results suggest that disc brakes tend to provide reduced braking distance and are less susceptible to brake fade than drum brakes. Anti-lock braking system (ABS) and suspension dynamics react differently to the two brake types. Small, noticeable differences in RSC performance are evident between the two brake types. Within the test limitations, rollover dynamics were not clearly different between the two brake types for braking-in-turn maneuvers, performed for a large range of entry speeds and brake activation delay relative to the start of steering. / Doctor of Philosophy / Due to their large size, mass, and high center-of-gravity, heavy vehicles, especially long combination vehicles (LCVs) require a substantial amount of space to negotiate turns, long distances to brake from highway speeds to a stop and are susceptible to rollover. Combination vehicles on the U.S. roads are commonly in 53-ft single trailer or 28-ft double trailer configurations. With the continual rise of e-commerce, package carriers are pursuing 33-ft double trailers to increase each vehicle's cargo volume. Before introducing these trailers into a fleet, there is a need to understand (1) if 33-ft doubles can negotiate existing routes traveled by 28-ft double and 53-ft single configurations, (2) if 33-ft doubles can benefit from existing stability control systems, and (3) how trailer brake types perform on 33-ft doubles. Three separate studies are conducted to address these topics. The first study compares off-tracking for the three mentioned trailer configurations through low-speed, real-world maneuvers via physical full-scale tests and simulation. Off-tracking is a metric illustrative of maneuverability and is defined as the relative distance in paths of the rearmost axle to the lead steer axle. New mathematical models are introduced and used to simulate vehicle motion through low-speed maneuvers. The simulation and field tests determine that, for all tested maneuvers, the order from smallest to largest off-tracking is 28-ft double, 33-ft double, and 53-ft single configurations, with the 33-ft doubles having slightly larger off-tracking than 28-ft doubles. This suggests that 33-ft doubles can travel through routes typically traveled by a 53-ft single but need slightly more space on the road than a 28-ft double. The second study tests 33-ft double trailers with and without stability control systems. Tests, conducted at a test track, are designed to replicate real-world maneuvers that induce trailer rollover. It is found that the 33-ft double trailers are clearly less likely to rollover with the tested stability enhancement systems than without. The tests also illustrate that the different tested control systems' effectiveness in reducing rollover propensity is maneuver dependent. The third study tests the braking distance, brake influence on the stability control systems, and rollover dynamics while braking-in-turn for two different types of brakes, drum brakes and disc brakes. Small but evident differences in the performance of the two brake types suggest disc brakes could provide shorter stopping distance and time at highway speeds, compared with drum brakes. The studies detailed in this dissertation provide valuable information on 33-ft doubles dynamics and provide guidance for their safe introduction on the U.S. roadways.

Atualmente, o Brasil é o maior produtor de açúcar do mundo, com uma produção anual de 16,7 milhões de toneladas, onde a metade deste montante destina-se ao mercado externo. Nesse contexto, este trabalho tem o objetivo principal de investigar as principais alternativas de transporte existentes para o açúcar a granel de exportação, e propor estratégias que orientem os agentes envolvidos neste mercado a racionalizar seus custos de distribuição. São criados três grupos de cenários que representam as principais alternativas de transporte neste setor: o rodoviário porta-a-porta; o rodo-ferroviário com restrição de capacidade de embarque de açúcar; e um cenário de longo prazo de transporte rodo-ferroviário sem restrição de capacidade de embarque de açúcar. Em cada um desses grupos existe a opção de se transportar nos trechos rodoviários, tanto no porta-a-porta como nas pontas de acesso à ferrovia, com frota própria ou terceirizada. As tecnologias para frotas próprias investigadas nesse trabalho são as CVCs 2S3 e 3S3, geralmente utilizadas para o transporte do açúcar a granel, e as 3S2B2 e 3S3B3, as quais tem participações incipientes nesse mercado de transportes. A modelagem do problema leva em consideração os custos econômicos para a operação das frotas próprias e os valores de fretes cobrados para o setor tanto no modo rodoviário, como no ferroviário. Esses modelos agregados são simulados com auxílio de um sistema de informação geográfica e de planilhas eletrônicas. Ao final, conclui-se que no transporte rodoviário porta-a-porta, embora existam vantagens econômicas na operação das novas CVCs, nenhuma alternativa de frota própria mostra-se mais viável que a contratação de frota terceirizada no mercado. As análises no modo rodo-ferroviário mostram que este é mais atraente do que o rodoviário porta-a-porta para o mercado de exportação de açúcar, mesmo quando a operação tem restrições de capacidade. Numa operação hipotética sem restrições de capacidade, os ganhos econômicos gerados são da ordem 5,3% sobre a alternativa rodo-ferroviária com restrição da ferrovia para embarque de açúcar. Sugere-se a realização de uma investigação dos custos de investimento na infra-estrutura e material rodante necessários para eliminar as restrições de capacidade para este mercado. / Brazil is today the largest sugar producer of the world, with an annual production of 16,7 milion tons, where half of this amount is directed to be export market. In this context, the study has the main objective to investigate the transport alternatives for bulk sugar export and to propose strategies to the market agents involved in rationalizing the distribution costs. Three groups of scenarios are created to represent the main transportation alternatives in this sector: the door-to-door road transport; the constrained capacity road-railroad intermodal transport; and a long-term unconstrained capacity road-railroad intermodal scenario. For each of these scenarios the option of the road transport, either in the door-to-door operation or in the accesses to the railroad, with proprietary or third party fleets is investigated. The technologies for proprietary fleets considered in this investigation are the 2S3 and 3S3 combinations, generally used at present for the bulk sugar transportation, as well as the 3S2B2 and 3S3B3 LCVs, which have an incipient participation in this transportation market. The modeling considers the economic costs for the proprietary fleet operations and current freight values charged for road and rail in the bulk sugar transport sector in the region selected for the case study for the third party operation. The aggregate cost models are simulated with the support of a geographic information system and electronic spreadsheets. It is concluded that in the door-to-door road transport, even considering the economic advantages of the new LCVs technologies, none of the proprietary fleet alternatives are more cost effective than contracting third party fleets in the market. The railroad alternatives show that this alternative is more attractive than the door-to-door road transport, even considering the constraints in operating capacity. An hypothetical operation with unconstrained capacity is presented, showing that the economic gains of this alternative are in the order of 5,3% better than the best constrained capacity alternative. A suggestion to conduct an investigation on the investment costs necessary to eliminate infrastructure and rolling stock capacity constrains on the railroad network is presented.

Esta pesquisa investiga alternativas de transporte de cargas frigoríficas entre fábricas e centros de distribuição, avaliando as possíveis vantagens econômicas que resultariam do transporte intermodal rodo-hidroviário de contêineres ISO e do uso da CVC (Combinação de Veículo Carga) do tipo 3S3B3 - cavalo mecânico de três eixos mais dois semi-reboques de três eixos unidos por uma conexão do tipo B com PBTC de 74t, em relação ao cenário atual de transporte rodoviário porta-a-porta com a CVC do tipo 2S3 – cavalo mecânico de dois eixos com um semi-reboque de três eixos de 41,5t de PBTC. Com o auxílio de um Sistema de Informações Geográficas (TransCAD) dimensiona-se a frota e elabora-se um modelo de custos de transporte na rede de rotas para diversos cenários alternativos. As tarifas de pedágios das principais concessionárias de rodovias brasileiras e as tarifas portuárias dos portos considerados no modelo serviram como fonte de informações para a criação de mapas temáticos, rotas de caminho mínimo e a obtenção do custo por tonelada transportada. Conclui-se, através da análise dos resultados obtidos, que existem potenciais ganhos econômicos da alternativa de transporte intermodal rodo-marítimo, associado a CVC 3S3B3 – bitrem com implemento porta-contêineres, no acesso aos portos e no trajeto do porto ao centro de distribuição em relação à tecnologia de transporte utilizada atualmente, de transporte rodoviário porta-a-porta com a CVC 2S3 – semi-reboque com implemento rodoviário baú frigorífico e capacidade de carga de 26 paletes padrão PBR. Conclui-se também que a tecnologia do tipo 3S3B3 com baú frigorífico e capacidade de carga de 40 paletes oferece aos transportadores uma alternativa que, na grande maioria das rotas estudadas, é mais competitiva que a integração modal rodo-hidroviária. / This research investigates transportation alternatives between industries and distribution centers by evaluating the possible advantages of the road-waterway intermodal transport of ISO containers and the use of a LCV-Long Combination Vehicle of the 3S3B3 type – a tractor plus two semi-trailers linked by a B-train connection and 74t of GVW, in relation to the present roadway house-to-house operating scenario using a five axles semi-trailer of the 2S3 type and 41,5t of GVW. Using a Geographic Information System (TransCAD) the fleet size and the operating costs of the transportation network are calculated. For different alternative scenarios tolls charged by the brasilian private road administration partnership and current port rates are used in the model, and served as the basis to elaborate the thematic maps, minimum cost routes and costs per transported ton. From the analysis of the results it is concluded that the intermodal road-waterway alternative, associated to the transport of containers to the ports and from the ports to the distribution centers using the 3S3B3 with two container flatbeds, offers potencial economic gains in relation to the present technology using the house-to-house road transport with the 2S3 and a reefer trailer for 26 PBR pallets. It is also concluded that the 3S3B3 technology with 2 reefer units and capacity of 40 PBR pallets offers an alternative to the transportation industry that outperforms the road-waterway intermodal integration on most studied routes.

Esta pesquisa investiga alternativas de transporte de cargas frigoríficas entre fábricas e centros de distribuição, avaliando as possíveis vantagens econômicas que resultariam do transporte intermodal rodo-hidroviário de contêineres ISO e do uso da CVC (Combinação de Veículo Carga) do tipo 3S3B3 - cavalo mecânico de três eixos mais dois semi-reboques de três eixos unidos por uma conexão do tipo B com PBTC de 74t, em relação ao cenário atual de transporte rodoviário porta-a-porta com a CVC do tipo 2S3 – cavalo mecânico de dois eixos com um semi-reboque de três eixos de 41,5t de PBTC. Com o auxílio de um Sistema de Informações Geográficas (TransCAD) dimensiona-se a frota e elabora-se um modelo de custos de transporte na rede de rotas para diversos cenários alternativos. As tarifas de pedágios das principais concessionárias de rodovias brasileiras e as tarifas portuárias dos portos considerados no modelo serviram como fonte de informações para a criação de mapas temáticos, rotas de caminho mínimo e a obtenção do custo por tonelada transportada. Conclui-se, através da análise dos resultados obtidos, que existem potenciais ganhos econômicos da alternativa de transporte intermodal rodo-marítimo, associado a CVC 3S3B3 – bitrem com implemento porta-contêineres, no acesso aos portos e no trajeto do porto ao centro de distribuição em relação à tecnologia de transporte utilizada atualmente, de transporte rodoviário porta-a-porta com a CVC 2S3 – semi-reboque com implemento rodoviário baú frigorífico e capacidade de carga de 26 paletes padrão PBR. Conclui-se também que a tecnologia do tipo 3S3B3 com baú frigorífico e capacidade de carga de 40 paletes oferece aos transportadores uma alternativa que, na grande maioria das rotas estudadas, é mais competitiva que a integração modal rodo-hidroviária. / This research investigates transportation alternatives between industries and distribution centers by evaluating the possible advantages of the road-waterway intermodal transport of ISO containers and the use of a LCV-Long Combination Vehicle of the 3S3B3 type – a tractor plus two semi-trailers linked by a B-train connection and 74t of GVW, in relation to the present roadway house-to-house operating scenario using a five axles semi-trailer of the 2S3 type and 41,5t of GVW. Using a Geographic Information System (TransCAD) the fleet size and the operating costs of the transportation network are calculated. For different alternative scenarios tolls charged by the brasilian private road administration partnership and current port rates are used in the model, and served as the basis to elaborate the thematic maps, minimum cost routes and costs per transported ton. From the analysis of the results it is concluded that the intermodal road-waterway alternative, associated to the transport of containers to the ports and from the ports to the distribution centers using the 3S3B3 with two container flatbeds, offers potencial economic gains in relation to the present technology using the house-to-house road transport with the 2S3 and a reefer trailer for 26 PBR pallets. It is also concluded that the 3S3B3 technology with 2 reefer units and capacity of 40 PBR pallets offers an alternative to the transportation industry that outperforms the road-waterway intermodal integration on most studied routes.

Atualmente, o Brasil é o maior produtor de açúcar do mundo, com uma produção anual de 16,7 milhões de toneladas, onde a metade deste montante destina-se ao mercado externo. Nesse contexto, este trabalho tem o objetivo principal de investigar as principais alternativas de transporte existentes para o açúcar a granel de exportação, e propor estratégias que orientem os agentes envolvidos neste mercado a racionalizar seus custos de distribuição. São criados três grupos de cenários que representam as principais alternativas de transporte neste setor: o rodoviário porta-a-porta; o rodo-ferroviário com restrição de capacidade de embarque de açúcar; e um cenário de longo prazo de transporte rodo-ferroviário sem restrição de capacidade de embarque de açúcar. Em cada um desses grupos existe a opção de se transportar nos trechos rodoviários, tanto no porta-a-porta como nas pontas de acesso à ferrovia, com frota própria ou terceirizada. As tecnologias para frotas próprias investigadas nesse trabalho são as CVCs 2S3 e 3S3, geralmente utilizadas para o transporte do açúcar a granel, e as 3S2B2 e 3S3B3, as quais tem participações incipientes nesse mercado de transportes. A modelagem do problema leva em consideração os custos econômicos para a operação das frotas próprias e os valores de fretes cobrados para o setor tanto no modo rodoviário, como no ferroviário. Esses modelos agregados são simulados com auxílio de um sistema de informação geográfica e de planilhas eletrônicas. Ao final, conclui-se que no transporte rodoviário porta-a-porta, embora existam vantagens econômicas na operação das novas CVCs, nenhuma alternativa de frota própria mostra-se mais viável que a contratação de frota terceirizada no mercado. As análises no modo rodo-ferroviário mostram que este é mais atraente do que o rodoviário porta-a-porta para o mercado de exportação de açúcar, mesmo quando a operação tem restrições de capacidade. Numa operação hipotética sem restrições de capacidade, os ganhos econômicos gerados são da ordem 5,3% sobre a alternativa rodo-ferroviária com restrição da ferrovia para embarque de açúcar. Sugere-se a realização de uma investigação dos custos de investimento na infra-estrutura e material rodante necessários para eliminar as restrições de capacidade para este mercado. / Brazil is today the largest sugar producer of the world, with an annual production of 16,7 milion tons, where half of this amount is directed to be export market. In this context, the study has the main objective to investigate the transport alternatives for bulk sugar export and to propose strategies to the market agents involved in rationalizing the distribution costs. Three groups of scenarios are created to represent the main transportation alternatives in this sector: the door-to-door road transport; the constrained capacity road-railroad intermodal transport; and a long-term unconstrained capacity road-railroad intermodal scenario. For each of these scenarios the option of the road transport, either in the door-to-door operation or in the accesses to the railroad, with proprietary or third party fleets is investigated. The technologies for proprietary fleets considered in this investigation are the 2S3 and 3S3 combinations, generally used at present for the bulk sugar transportation, as well as the 3S2B2 and 3S3B3 LCVs, which have an incipient participation in this transportation market. The modeling considers the economic costs for the proprietary fleet operations and current freight values charged for road and rail in the bulk sugar transport sector in the region selected for the case study for the third party operation. The aggregate cost models are simulated with the support of a geographic information system and electronic spreadsheets. It is concluded that in the door-to-door road transport, even considering the economic advantages of the new LCVs technologies, none of the proprietary fleet alternatives are more cost effective than contracting third party fleets in the market. The railroad alternatives show that this alternative is more attractive than the door-to-door road transport, even considering the constraints in operating capacity. An hypothetical operation with unconstrained capacity is presented, showing that the economic gains of this alternative are in the order of 5,3% better than the best constrained capacity alternative. A suggestion to conduct an investigation on the investment costs necessary to eliminate infrastructure and rolling stock capacity constrains on the railroad network is presented.

Articulated Heavy Goods Vehicles (HGVs) are more efficient than conventional rigid lorries, but exhibit reduced low-speed manoeuvrability and high-speed stability. Technologies such as autonomous reversing and path-following trailer steering can mitigate this, but practical limitations of the available sensing technologies restrict their commercialisation potential. This dissertation describes the development of practical vision-based articulation angle and trailer off-tracking sensing for HGVs. Chapter 1 provides a background and literature review, covering important vehicle technologies, existing commercial and experimental sensors for articulation angle and off-tracking measurement, and relevant vision-based technologies. This is followed by an introduction to pertinent computer vision theory and terminology in Chapter 2. Chapter 3 describes the development and simulation-based assessment of an articulation angle sensing concept. It utilises a rear-facing camera mounted behind the truck or tractor, and one of two proposed image processing methods: template-matching and Parallel Tracking and Mapping (PTAM). The PTAM-based method was shown to be the more accurate and versatile method in full-scale vehicle tests. RMS measurement errors of 0.4-1.6° were observed in tests on a tractor semi-trailer (Chapter 4), and 0.8-2.4° in tests on a Nordic combination with two articulation points (Chapter 5). The system requires no truck-trailer communication links or artificial markers, and is compatible with multiple trailer shapes, but was found to have increasing errors at higher articulation angles. Chapter 6 describes the development and simulation-based assessment of a trailer off-tracking sensing concept, which utilises a trailer-mounted stereo camera pair and visual odometry. The concept was evaluated in full-scale tests on a tractor semi-trailer combination in which camera location and stereo baseline were varied, presented in Chapter 7. RMS measurement errors of 0.11-0.13 m were obtained in some tests, but a sensitivity to camera alignment was discovered in others which negatively affected results. A very stiff stereo camera mount with a sub-0.5 m baseline is suggested for future experiments. A summary of the main conclusions, a review of the objectives, and recommendations for future work are given in Chapter 8. Recommendations include further refinement of both sensors, an investigation into lighting sensitivity, and alternative applications of the sensors.