Lateral Dynamic Modeling and Verification of Vehicles with Steering Characteristics

This paper proposed the vehicle lateral dynamic modeling method including the characteristics of the steering system. The model can demonstrate the aligning torque and some other characteristics. For the steering system, the input is made up of the driver's torque, the assisting motor torque and the aligning torque obtained from the tire model, the corresponding output is the front wheel angle. The vehicle status information includes the sideslip angle, the yaw rate and the lateral displacement, and the aligning torque can be characterized. The steering system includes the influence of the steering system clearance, elastic components, the overall stiffness, and the ability to express the road feeling. The tire model includes the expression of different road surfaces, the influence of the steering system on the lateral stiffness characteristics, and the influence of the front wheel positioning parameters on the tire cornering characteristics. The lateral dynamic model is mainly used for simulation research and system performance evaluation. Then, the expression ability of the model is verified by the joint simulation of CarSim and Simulink. Finally, the experiment of a snake test was designed. It appears that the integrated model lays a foundation of the designing a controller in the future.