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Published in:
2020 | OriginalPaper | Chapter
1. Vehicles Are Lazy: On Predicting Vehicle Transient Dynamics by Steady-State Responses
Authors : Sina Milani, Hormoz Marzbani, Ali Khazaei, Reza N. Jazar
Published in: Nonlinear Approaches in Engineering Applications
Publisher: Springer International Publishing
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Abstract
Analysis of vehicles’ handling behavior in turning maneuvers requires a proper mathematical model. There are several factors affecting a vehicle’s response in a turning maneuver. Apart from variations in vehicle and tire parameters, external factors such as air resistance and slope of the road make it quite a complicated task to consider all parameters in the vehicle model. The majority of the most important features of the vehicle behavior in maneuvers are observable using fairly simplified planar vehicle models. In planar modeling, we ignore the roll, pitch, and vertical motions of the vehicle and only emphasize on the longitudinal, lateral, and yaw motions.
The most famous and basic planar vehicle model is known as the bicycle model. Many of the vehicle handling analyses and all the basic characterizations have been derived using bicycle model throughout the course of vehicle dynamics studies (Ellis, Vehicle dynamics. Business Books, 1969; Milliken and Milliken, Race car vehicle dynamics. Society of Automotive Engineers, Warrendale, PA 1995; Jazar, Vehicle dynamics: Theory and application. Springer, Berlin 2017). Bicycle model is accurate enough to represent the real car behavior to a reasonable extent in normal driving conditions. This characteristic of the bicycle model makes it useful in designing and investigating new ideas on dynamics and control of vehicles, such as defining the nominal vehicle response for yaw-rate and/or side-slip angle (Van Zanten, Bosch esp systems: 5 years of experience. SAE Technical Paper 2000; Rajamani, Vehicle dynamics and control. Springer, Berlin 2011).
In this article, the bicycle model is presented in detail and the underlying assumptions are discussed. In the rest of the chapter, the importance of steady-state responses of the bicycle model is discussed by comparing the steady-state and transient vehicle behaviors, characteristics of maneuvering vehicles including steady-state charts are presented, and finally, application of such an analysis on a path following strategy is explained and two examples are given to evaluate the proposed idea.