多軸・多重連結車両の操舵時の横方向応答

概要

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Directional response and directional stability of vehicle combinations are main research topics in vehicle safety. This paper analyzes the steering sensitivity in lane-change maneuvers of multi-articulated vehicles with multiple axles using simplified mathematical models. It also calculates the frequency response, pole, and zero in the transfer functions of each variable for two types of tractor-double-trailer, a tractor-semitrailer and a truck-full-trailer having multiple axles. The following conclusions are drawn. (1) The steering sensitivity of multi-articulated vehicles with multiple axles in lane-change maneuvers is composed of steering sensitivity in steady-state turns and the parameters of lane-change maneuvers. (2) The effect of the number of trailer axles on the damping ratio of zero is larger than that of the other parameters for multiple axles. (3) A large steering angle is necessary to change running lanes for multi-articulated vehicles with multiple axles that have low steering sensitivity in lane-change maneuvers; therefore, the rise time is short. Moreover, if the vehicle combination has a low damping ratio of oscillatory modes, the settling time is long, and the overshoot and maximum deviation are large.