Citation

Liaw DC, Chiang HH, Lee TT. IEEE Trans. Intel. Transp. Syst. 2007; 8(2): 195-192.

Copyright

(Copyright © 2007, IEEE (Institute of Electrical and Electronics Engineers))

DOI

unavailable

PMID

unavailable

Abstract

This paper analyzes the lateral dynamics of vehicles with a perturbation method for approximation of system equilibrium at the front wheel steering angle as part of a system linearization and local bifurcation analysis. Lateral dynamics are a useful tool in establishing safety measures for vehicles as accidents most often involve the nonlinear behavior of the front steering angle. Researchers apply a Routh-Hurwitz stability criterion to their model and, without assuming small angles, stability of the constant velocity for steering systems is derived. The equilibrium solution presented leads to the observed and described saddle-node bifurcation. It is also noted that the applied front wheel angle at the bifurcation points gets smaller as the vehicle?s actual velocity increases. This is consistent with the contention that vehicle control is difficult at high speeds.