Abstract
This paper presents a mathematical model and numerical analysis for multiaxle vehicles operating on level ground. Considering possible factors related to turning motion such as vehicle configuration and tire slip velocities, equations of motion were constructed to predict steerability and driving efficiency of vehicles. Turning radius, slip angle at the mass center, and each wheel velocity are obtained by numerically solving the equations with steering angles and average wheel velocity as numerical inputs. To elucidate the turning characteristics of multiaxle vehicles, the effect of fundamental parameters, vehicle speed, steering angles and type of driving system, are examined for a sample of multiaxle vehicles. Additionally, field tests using a full-scale vehicle were carried out to evaluate the basic turning characteristics on level ground.
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