Question

When applying the kinematic bicycle model for vehicle steering, what tire parameter must be accounted for to define the difference between the intended path and the actual vehicle heading?

Accepted Answer

The kinematic bicycle model requires the inclusion of the slip angle to account for the difference between the intended path and the actual vehicle heading. In the basic kinematic model, which assumes pure rolling motion without lateral movement, it is assumed that the wheels point exactly in the direction of travel. However, in reality, tires generate lateral force by operating at a slip angle, which is the angle between the direction the wheel is pointing and the actual direction the wheel is traveling across the ground. Because tires are elastic, they deform when cornering, causing the vehicle to follow a path that deviates from the direction the front wheels are steered. By incorporating the slip angle, engineers can compensate for this lateral drift and calculate the precise steering angle required to achieve a target trajectory. Without accounting for the slip angle, the kinematic model would overestimate the vehicle&#x27;s turning capability and fail to accurately predict the discrepancy between the steered heading and the resulting path of the vehicle.

Home → All Courses → Engineering and Technology Courses → Autonomous Vehicle Engineering → Flashcard

When applying the kinematic bicycle model for vehicle steering, what tire parameter must be accounted for to define the difference between the intended path and the actual vehicle heading?