Abstract
Based on the lateral properties of tire and the input variable of braking force, a 2-DOF lateral dynamic analytical model of wheel skid-steered vehicle is established in this paper. Based on the model, the steady-state yaw velocity gain and steering radius in the process of skid-steering are analyzed theoretically. Then the control boundary and distribution strategy of the braking force are given. An all-terrain vehicle was used to carry out a real vehicle test, and verified that the strategy can ensure the safe steering of the vehicle when the driving force is lost.
| Original language | English |
|---|---|
| Pages (from-to) | 75-81 |
| Number of pages | 7 |
| Journal | Journal of Beijing Institute of Technology (English Edition) |
| Volume | 30 |
| DOIs | |
| Publication status | Published - Jun 2021 |
Keywords
- Control strategy
- Distributed-drive
- Emergency control
- Lateral dynamics
- Skid-steering
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