Drift Turning of Lateral Guided Vehicle with Sensor Steering Mechanism. Application of a Variable Kinetic Friction Model.

摘要

In the previous paper, the simulated loci of high speed cornering are not correspond with the experimental results, because of the tire model is only used the sticking in Coulomb friction model. If the centrifugal force becomes larger than the cornering force of tires, the vehicle does not maintain the desired course. This demeanor includes the sticking and slipping condition of the tire. In order to simulate the trajectory at the high speed corner, this paper is assumed three stages of friction condition; the low kinetic friction force at the beginning of slipping, the period of kinetic friction force, and returning to the static friction at the small slip angle. In addition of the RR (Rear motor Rear drive) type vehicle, FF (Front motor Front drive) type with SSM (Sensor Steering Mechanism) and four-wheel steering mechanism is developed, and both robots run on the oval course at high speed. Numerical simulation and experimental results show the effectiveness of the presented friction model.