Determination of Theoretical Path of Vehicle Motion upon Cornering

• Published in: Journal of Applied Science and Engineering Vol. 25; no. 5; pp. 893 - 899
• Main Authors: Alexander Nikolaevich Belyaev, Vladimir Pavlovich Shatsky, Vyacheslav Gennadievich Kozlov, Tatiana Vladimirovna Trishina, Irina Alevtinovna Vysotskaya
• Format: Journal Article
• Language: English
• Published: 淡江大學 01.10.2022; Tamkang University Press
• Subjects: clothoid; curvilinear motion; rotation; trajectory; vehicle; curvilinear motion; clothoid; trajectory; rotation; vehicle
• ISSN: 2708-9967; 2708-9975
• DOI: 10.6180/jase.202210_25(5).0004

The most complete presentation of stability of curvilinear motion of wheeled vehicle is provided by variations of motion path of its kinematic center and turn coordinates: maximum abscissa and ordinate showing both transversal and longitudinal deviations of vehicle, including those determining its flexibility and capacity. The methods of motion of wheeled vehicle are selected on the basis of specific operation conditions. This article describes derivation of explicit equations for analytical prediction of theoretical coordinates of path points of wheeled vehicle kinematic center upon loop-free circulation cornering. The derivation is based on parametric equation for determination of current coordinates of theoretical curve of entering corner and circumference, as well as smoothness condition and path continuity at the sites of their junction. The proposed equations made it possible to determine theoretical path of total cycle of loop-free circulation cornering of wheeled vehicle as a function of the following parameters: design related-axle base, distance between kingpins, maximum turn angles of internal steered wheels, and operation related-vehicle forward speed, angular turning speed of steered wheels in transverse plane, as well as to analyze and to compare the most universal methods of cornering: by front steered wheel and by front and rear wheel by their turning in opposite directions with regard to frame.