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Modeling multi-unit vehicle dynamics for low-speed path-following assessment off-highway
Authors:Q. Miao  C. Zong
Affiliation:1.State Key Laboratory for Automotive Simulation and Control,Jilin University,Changchun,China;2.R&D Center,Leapmotor Technology Co. Ltd.,Hangzhou,China
Abstract:This paper proposes a non-linear dynamics model for articulated vehicles. This model is able to capture common low-speed behaviours of any articulated vehicles off-highway, such as operating for a corner or roundabout on a cambered or slippery surface. It can be used to assess the low-speed manoeuvrability of articulated vehicles under such manoeuvres and conditions. The vehicle model was validated by comparing its path tracking performance to that of the field tests.
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