現今車輛安全系統之發展非常普及，但多數皆應用於小型車輛，就聯結車輛之車輛安全系統而言卻不是如此完善，但是相較來說，聯結車輛引發之車輛意外事故的嚴重性卻比其他車輛高達許多，且聯結車輛之意外事故具有其獨特性，這是因為雙車體聯結的關係。在此針對聯結車輛獨特意外事故之ㄧ現象”鐮刀效應”，發展一車輛安全系統來預防鐮刀效應現象之發生。本研究採用的策略是利用獨立煞車之技術。首先建立一組六個自由度之線性聯結車輛動力學模型，並根據Buckingham  theorem建立一臺與Hino聯結車輛之比例為1:14、且具有相似動態效應之縮小型車輛。接著，建立縮小型車輛實驗所需的控制與量測平台，並透過縮小型車輛進行特定駕駛動作之實驗，觀察縮小型車輛之第五輪運動效應，並輔以車輛動力學模擬之結果進行探討兩者之第五輪運動狀態。此外，由於大多車輛動力學模型並未考慮到第五輪之摩擦力之效應，故在聯結車輛動力學模型中額外考量一濕摩擦係數來使車輛動力學模型更接近真實聯結車輛。而後比較縮小型車輛實驗所得之第五輪效應是否與模型模擬結果相同，藉此成功地驗證縮小型車輛之動態效果與模擬結果具有相同之效果。完成上述動作後，套用一鐮刀效應預防控制器於縮小型車輛上並進行實驗，而後並與模擬進行比較，結果顯示控制器能夠有效的抑制第五輪之角度變化量，進而達到預防鐮刀效應現象之效果，且實驗所得之效果十分接近模擬所得之結果。

Safety has always been the primary concern to the vehicle drivers, government, and the automobile industry. Articulated vehicles, due to their larger size, usually involve more severe damage to human body and property. In particular, several crashes types are unique to articulated vehicles, and the active safety systems for those accidents have received relatively less attention in the literature. Testing of active safety systems with full-size articulated vehicles is an expensive and hazardous endeavor. This fact motivates the use of a scaled vehicle as the evaluation test bed for vehicle control systems. In this paper, this idea is applied to articulated vehicles. The scaled articulated vehicle is designed and constructed based on a 1/14 reduction in length from a full-size Hino truck. The Buckingham Π theorem states that if the dimensionless parameters (the Π group) are matched between two structurally similar dynamical systems, the dynamic similitude between the two systems is ensured. The Π group is derived from the mathematic model of the articulated vehicle, and the parameters of the scaled vehicle are tuned to match the Π group of the full-size truck. And add a contact friction on the fifth wheel. The value of the fifth wheel contact friction is estimated from a series of off-line experiments. Preliminary experiments indicate that the dynamic responses of the scaled vehicle match the simulated results based on the vehicle model, thus supporting the validity of the scaled articulated vehicle. The scaled articulated vehicle is utilized in the development of a jack-knife prevention control system. Then use the jack-knife prevention controller, the experimental evaluations of the jack-knife prevention safety systems are good.

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