Title :
A linear lateral dynamic model of skid steered wheeled vehicle
Author :
Zhang Yu ; Hu Jibin ; Li Xueyuan ; Lyu Shupeng ; Guo Jing
Author_Institution :
Nat. Key Lab. of Vehicular Transm., Beijing Institude of Technol., Beijing, China
Abstract :
Skid steering has been applied to various intelligent vehicles because it has advantages in mobility and general layout. This paper proposes a linear lateral dynamic model of skid steered wheeled vehicle. The lateral dynamic differential equation is given, and the steady state process of turning motion is analyzed based on the dynamic differential equation. The results show that the model accords with the linear assumptions. The applicable range is broader than linear single track model of Ackermann steer at general speed. The linear lateral dynamic model is suitable for the analyses of lateral dynamics and handling stability of the skid steered wheeled vehicles.
Keywords :
differential equations; motion control; road vehicles; stability; steering systems; vehicle dynamics; Ackermann steer; general speed; handling stability; intelligent vehicles; lateral dynamic differential equation; linear assumptions; linear lateral dynamic model; linear single track model; skid steered wheeled vehicle; skid steering; turning motion; Equations; Force; Mathematical model; Tires; Vehicle dynamics; Vehicles; Wheels; differential equations; electric vehicles; intelligent vehicles; linear model; skid steering;
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2013 IEEE
Conference_Location :
Gold Coast, QLD
Print_ISBN :
978-1-4673-2754-1
DOI :
10.1109/IVS.2013.6629591
