Simulace jízdních manévrů vozidel s řízením typu All Wheel Steering

Abstract

Directional dynamics of motor vehicles is analyzed and solved usually taking into account Ackermann steering geometry conditions. The submitted thesis extends analysis by mathematical modeling of vehicle behavior at the steady state speed during various driving maneuvers. To study a directional response of a car the mathematical model was created. It is assumed that the car is a rigid body moving on four wheels. The model is spatial. The corresponding equation of motion is solved using Matlab-Simulink. Driving maneuvers such as driving in a circle and crossing from lane to lane are simulated with the use of the mentioned model. The model is employed for a simulation study of directional stability of the car which is equipped by a system allowing turning the rear axle as well which is called All Wheel Steering system. A dependence of the directional deviation angle between the velocity vector and the car longitudinal axis on a transmission ratio between the turning of the wheels at the front and rear axles at a steady-state vehicle speed is analyzed. The thesis reviews various solutions of a car directional control like All Wheel Steering, Steer By Wire or Dynamic Active Steering as well.