Lateral Dynamics Model Considering Road-Cant and Curvature for Autonomous Trucks

Abstract

It is 4DOF model considering inputs from steering wheel and road. Torque and angle as steering inputs, and king-pin lift torque, side force at road cant and curvature as road inputs are considered. The equivalent cornering power involving the compliance as compliance coefficient is used. Also, the cornering coefficient presented dividing the equivalent cornering power by axle load is used for being responsible to loading weight validation. Simulated results are shown with actual express way running data.