Abstract
A dynamic model of tractor-semitrailer cornering braking was established in this paper, and the accuracy of the model was verified by real vehicle test. By model simulation of the cornering braking process, different road adhesion coefficient such as 0.15, 0.3, 0.45, 0.6, 0.75 was chosen to analyzed the changing curve of braking distance, articulation angle, yaw rate and lateral acceleration when initial speed of tractor-semitrailer was 30km/h. The result showed that the peak values of articulation angle, yaw rate and lateral acceleration gotten by simulation were the largest. On the road of road adhesion coefficient 0.15, distance of tractor-semitrailer cornering braking was the longest. On the road of road adhesion coefficient 0.75, distance of tractor-semitrailer cornering braking was the shortest and the peak values of articulation angle, yaw rate and lateral acceleration were small relatively.
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