Driver's influence on kinematics of articulated bus

Abstract

Driver’s influence on kinematics of articulated bus. This paper studies kinematics properties of the particle coach as function of driver’s activity. The main goals are the prediction of the trajectory, the computation of the vector of velocity of each wheel as a function of the real velocity vector of the midpoint of the middle axle and the real curvature of the bus trajectory. The computer algebra system Maple was used for all necessary computations. Article is divided into four main parts. In the first part are derived integral relations describing trajectory of the middle axes midpoint as a function of the absolute value of the velocity and trajectory curvature. At the second part is computed joint trajectory and differential equation describing relation between joint position and position of the midpoint of the rear – towed axle. At the third part is shown how to integrate such system of integral-differential equation using Runge-Kutta method and how to estimate proper size of the time step. In the final part is shown how to compute curve passing time and graphical results of the numerical solution are presented.