The Calculation Method and the Design of the Warning System for the Dangerous Area of the Inner Wheel difference of the Vehicle

The calculation method of the inner wheel difference area of the vehicle is proposed for the four-wheeled vehicle and the articulated truck. Based on the Ackerman steering and geometric relationship, the trajectory formula in the vehicle coordinate system is derived. By collecting the speed of the two front wheels of the vehicle, the trajectory of the rear wheel of the vehicle can be obtained. A real vehicle experiment was carried out, and the predicted rear-wheel trajectory was processed by peak-reducing and smoothing processing. The error with the actual trajectory was small enough for the accuracy of early warning. Based on the calculated dangerous area, a vehicle turning warning system that displays the dangerous area through laser projection is proposed. This research can provide a useful reference for vehicle hazard perception and early warning.