Beruflich Dokumente
Kultur Dokumente
STEADY-STATE CORNERING
The cornering behaviour of a motor vehicle is an important performance mode often equated with
handling. "Handling" is a loosely used term meant to imply the responsiveness of a vehicle to driver
input, or the ease of control. As such, handling is an overall measure of the vehicle-driver combination.
The driver and vehicle is a "closed-loop" system – meaning that the driver observes the vehicle direction
or position, and corrects his/her input to achieve the desired motion. For purposes of characterizing only
the vehicle, "open-loop" behaviour is used. Open loop refers to vehicle response to specific steering
inputs, and is more precisely defined as "directional response" behaviour.
The most commonly used measure of open-loop response is the understeer gradient. Understeer
gradient is a measure of performance under steady-state conditions, although the measure can be used to
infer performance properties under conditions that are not quite steady-state (quasi-steady-state
conditions).
Open-loop cornering, or directional response behaviour, will be examined in this section. The
approach is to first analyze turning behaviour at low speed and then consider the differences that arise
under high-speed conditions. The importance of tyre properties will appear in the high-speed cornering
case and provide a natural point for systematic study of the suspension properties influential to turning.
The term manoeuvrability mean the maximum performance, usually the time to complete a given
manoeuvre, of a vehicle subjected only to physical limitations (like traction limits, available power etc.)
but without considering the limitations of the controller (i.e., if the driver is perfect).
We term handling mean the maximum performance of the same vehicle, but considering the
limitations of the control actuation subsystem (i.e., the driver).
In other words, manoeuvrability means the maximum performance that a vehicle can produce
without considering the driver’s limitations, whereas handling measures how much of this potential can
really be exploited by a driver who may apply only limited inputs to the system.
- 139 -
11.1. CORNERING MODALITIES
Fig. 11.1. Cornering realised by inducing different circumferential speeds to the outer and inner wheels
- 140 -
11.2. LOW-SPEED CORNERING
The first step to understanding cornering is to analyze the low constant-speed turning behaviour of
a motor vehicle. At low speed (parking lot manoeuvres without acceleration) the tyres need not develop
lateral forces. Thus they roll with no slip angle, and the vehicle must negotiate a turn as illustrated in
Figure 11.4 (6.1). If the rear wheels have no slip angle, the centre of turn must lie on the projection of
the rear axle. Likewise, the perpendicular from each of the front wheels should pass through the same
point, named instantaneous centre of turn. If they do not pass through the same point, the front tyres
will "fight" each other in the turn, with each experiencing some scrub (sideslip) in the turn. The ideal
turning angles on the front wheels are established by the geometry seen in the figure, and define the
steering angles for the turn.
- 141 -
z2 z4 z6
cos z = 1 − + − ...
2! 4! 6!
Then
∆ ≈ L2/(2 R) (6-4b)
For obvious reasons, off-tracking is primarily of concern with long-wheelbase vehicles such as
trucks and buses. For articulated trucks, the geometric equations become more complicated and are
known as "tractrix" equations.
Fig 11.5. ISO Requirements regarding articulated vehicles turning circle and off-tracking
Even the tractor-fulltrailer combination consist of three rigid bodies, theirs off-tracking can be
smaller than the off-tracking of tractor-semitrailer combination. This is possible due to the shorter length
of individual vehicles and to the optimised steering system of the fulltrailer.
Two systems are used to steer the fulltrailers:
• the drawbar and the trailer’s front axle form a rigid body which is named dolly; this can pivots
upon a vertical axis passing through the middle of the trailer’s front axle;
• the trailer’s front axle is non-pivoting but is equipped with a steering mechanism that direct outer
the trailer’s front wheels, reducing therefore the off-tracking.
- 142 -
Fig 11.6. Tractor-trailer combinations in transitory turn:
left – with dolly; right – with trailer steering system
The designers of articulated vehicle have to deal not only with the problem of turning circle and
off-tracking, but must also to avoid the contact between the bodies of tractor and trailer. As can be seen
in the right side of the previous figure, this problem is not solved. This concern is more stringent if
considers the possible longitudinal and lateral declivities of the road.
The trailer length influences directly the off-tracking so that vehicles with longer trailers need
more space to turn. The position of the articulation point and the trailer’s front overhang affect the off-
tracking and also the wall to wall turning circle. To simplify the driver’s vehicle control during
cornering, the most outer point of the road train must be in the front side of the tractor (the most outer
point of the trailer must not exceed the trajectory of the front outer corner of the tractor).
- 143 -
Fig. 11.8. (6.2) Tyre cornering force properties
The lateral force is resisted by the lateral cornering forces at the wheels. Cornering forces can only
be generated between a rubber tire and the road surface when the tire rolls at an angle to its longitudinal
plane; that is, a certain wheel slip angle is required.
Fig. 11.10. Tyre under slip: components of velocity and friction force in the tyre-ground contact patch
(upper view, right turn)
The degree of lateral cornering force which a pneumatic tire can provide depends upon numerous
factors, such as wheel slip angle, wheel load, tire design and dimensions, tire pressure and the amount of
grip (friction) afforded by the road surface.
- 145 -
wheel loads will not evoke proportional increases in cornering forces. In the example presented in Figure
11.11, doubling the wheel load increases the cornering force by a factor of only 1.5…1.7. The slip angle
must also be increased if the cornering force is to be doubled. This explains why the axle supporting the
greater load assumes a larger slip angle than its less heavily loaded counterpart, assuming that identical
ratios of lateral (side) force to tire contact force act on both axles.
Fig. 11.12. Cornering forces Fs and slip angle α on a 3-axle vehicle with non-steered tandem axle
- 146 -
11.5.2. “Bicycle Model” for Cornering
The dynamic model presented here – an extension of the so called “bicycle” model – is able to
describe the basic cornering behaviour in various travelling conditions of a two-axle vehicle and can
include other influences for steering, traction and braking systems. It can lead to a better understanding
of the automotive dynamics.
Normally, experimental data, achieved in real conditions tests, is necessary first to calibrate the
model (to realise fine adjustment of the model parameters values) and validate the model (to confirm the
correctness of the results).
The planar dynamic model presented in Figure 11.14 it is called “single-track” or “bicycle” model
of the vehicle. Its main characteristic is the replacement of the both wheels of an axle with only one
wheel that has an equivalent kinematic and dynamic behaviour. The model disregards the effects of roll
movement, considering a very stiff suspension (rigid body-axles assembly).
ψ&& = ∑
Mz
Jz
The three unknowns (the speed v, the slip angle β and the yaw angle ψ) can be determined
approximately by computer integration only if are known their initial values, the temporal evolutions of
forces and yawing moment and the vehicle inertial characteristics (m – vehicle mass; Jz – vehicle
moment of inertia about z axis).
The resultant of exterior forces and torque entering in the previous system of equations are
computed using the projections on t and n directions of gravitational, aerodynamic and tyres forces. To
calculate the longitudinal and lateral forces on tyres it is necessary to consider the road friction
characteristics and the driving and braking torques produced by the drivetrain and brakes.
If considers small sideslip angle β (sinβ ≈ tanβ ≈ β and cosβ ≈1), then the system of equations
become:
- 148 -
v& − v ( β& + ψ& ) β =
∑ Ft
m
ψ&& = ∑
Mz
Jz
The first equation shows that if the sum of the longitudinal forces remains constant during
cornering, the vehicle velocity will decrease, or, in other words, to mentain the same velocity when
negotiate a turn it is necessary to push more the accelerator pedal.
11.6.2. Yaw
- 150 -
11.6.3. Characteristic and Critical Speed
- 151 -
11.7. STEERING GEAR INFLUENCES
Fig. 11.19. Steering mechanisms: left – rigid axle; right – articulated axle
Fig. 11.20. Variable ratio principle (here low steering angles correspond to low steering ratio)
- 152 -
11.7.4. AWS – All-Wheel Steering
- 153 -