In an era marked by technological advancements and a shift toward sustainable transportation solutions, dynamic modeling of autonomous electric vehicles is gaining significance. This paper explores the application of ...
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ISBN:
(数字)9798350353358
ISBN:
(纸本)9798350353365
In an era marked by technological advancements and a shift toward sustainable transportation solutions, dynamic modeling of autonomous electric vehicles is gaining significance. This paper explores the application of the singletrack model in the dynamic analysis of a customized electric Buggy, with the aim of enhancing maneuverability and the predictability of the vehicle's behavior under various operational conditions. Focusing on lateral dynamics, crucial for the precise control of vehicle motion, we have investigated the Buggy's response to different steering commands, analyzing how the interplay between steering, propulsion, and braking contributes to maintaining an accurate trajectory and executing effective evasive maneuvers. A framework based on principles of classical mechanics and control theory has been developed and implemented, which has enabled detailed simulation of the Buggy's interactions with its environment. The vehicle's stability, characterized by parameters such as the cornering stiffness of the wheels and the vehicle's inertia around the z-axis, was validated through eigenvalue analysis using Matlab simulations. These were instrumental in allowing us to visualize the dynamics of the Buggy without resorting to costly physical prototypes and time-consuming field testing. The results of our analysis demonstrate that the design and single-track model parameters selected for our Buggy ensure stability and maneuverability for both urban and off-road conditions, confirming that the system is stable at various speeds. The eigenvalue analysis indicates a system that retains equilibrium post-disturbances, with predictable and controllable vehicle behavior. Furthermore, the real-world applicability of the single-track model has been confirmed, ensuring a high level of safety and comfort for users.
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