Citation

Hashemi E, Pirani M, Khajepour A, Kasaiezadeh A. Veh. Syst. Dyn. 2016; 54(12): 1736-1761.

Copyright

(Copyright © 2016, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2016.1232417

PMID

unavailable

Abstract

In this paper, a vehicle's lateral dynamic model is developed based on the pure and the combined-slip LuGre tire models. Conventional vehicle's lateral dynamic methods derive handling models utilizing linear tires and pure-slip assumptions. The current article proposes a general lateral dynamic model, which takes the linear and nonlinear behaviors of the tire into account using the pure and combined-slip assumptions separately. The developed methodology also incorporates various normal loads at each corner and provides a proper tire-vehicle platform for control and estimation applications. Steady-state and transient LuGre models are also used in the model development and their responses are compared in different driving scenarios. Considering the fact that the vehicle dynamics is time-varying, the stability of the suggested time-varying model is investigated using an affine quadratic stability approach, and a novel approach to define the critical longitudinal speed is suggested and compared with that of conventional lateral stability methods. Simulations have been conducted and the results are used to validate the proposed method.

Copyright © 2016, Taylor & Francis Group.

Language: en