| 摘要 |
PROBLEM TO BE SOLVED: To specify the target value of dynamic state quantity of a vehicle equivalent to actual motion by expressing the actual dynamic action model of the vehicle as a statistical relational expression of the target value of yawing speed under the condition of compensating turning force during curve travel and rotational and yawing moment acting upon the vehicle. SOLUTION: In the case of steady curve travel constant in the steering angleδand vehicle speed V and unchanged in the yawing speed and sideslip angle, when mZ (vehicle weight), lH (center distance between front and rear wheels) and lV (center-of-gravity of a vehicle) of a tractor, and mZ, lH, lV of a semi- trailer are known and the sideslip anglesβZ,βA and yawing speedΨZ,ΨA of the tractor and semi-trailer can be obtained as the approximate value specified by a one-lane model, equations I, II, III become linear algebraic equations, and three unknown sideslip rigidity quantities CV, CH, CA of wheels of an articulated automobile can be obtained from these equations. |
