Establishment and Analysis of Four-degree-freedom Dynamic Model Considering Lateral Tilt

Abstract

In order to reduce the rate of traffic accidents under extreme working conditions and to achieve stability control of the vehicle system under these conditions, a theoretical model of vehicle dynamics with four degrees of freedom was derived with full consideration of lateral, transverse, lateral and longitudinal motions, and a joint simulation was carried out on MATLAB/CarSim software with steering wheel angular step input. The difference between the lateral velocity output of the model built in this paper and the output of the CarSim model is 0.005m/s at most, and the difference between the transverse swing angular velocity output and the output of the CarSim model is no more than 0.2deg/s; the difference between the lateral tilt angle output and the output of the CarSim model is no more than 0.5deg. In summary, the output of the model built in this paper matches well with the output of the CarSim model, that is to say In other words, the dynamics model developed in this paper can better reflect the vehicle driving characteristics under the vehicle angular step conditions.