Analysis and Evaluation for B-Double Vehicles Handling Stability

  • Hong-guo Xu
  • Guo-jun Wang
  • Hong-fei Liu
  • Yi-hua Zhang
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 503)


An analytical method was introduced and used to solve the dynamics equation set which could simplify computational process, and four degrees of freedom (DOF) linear models were developed for B-double vehicles. Under the condition of tractor’s steering wheel angle as the step input, motion state variables, steady-state yaw rate gain, and understeer gradient for each vehicle unit were solved with MATLAB. It was analyzed that the correspondence between understeer gradient and steady-state relative yaw angle gain whose impacts on handling stability for vehicle unit were evaluated. With the variation of mass and rear axle tire cornering stiffness, location of mass center and wheelbase, location of articulated point for each vehicle unit, and the effects on the understeer gradient were analyzed. Handling stability was evaluated by the variation of vehicle’s operating condition and structural parameters. The results indicate that increasing mass and rear axle tire cornering stiffness properly, moving forward mass center and increasing wheelbase properly, moving backward articulated points, and decreasing mass properly could increase the understeer gradient which lead to the improvement of handling stability. It could provide theoretical basis for B-double vehicles stability tests.


Vehicle dynamics B-double vehicles Handling stability Steady-state yaw rate gain Understeer gradient Structural parameters 



This research was supported by the National Natural Science Foundation of research on vehicle driving stability region based on driving torque and steering angle bifurcation (51475199) and open project of Key Laboratory of Transportation Industry for safe technology in vehicle operation (KFKT2016-01).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Hong-guo Xu
    • 1
  • Guo-jun Wang
    • 1
  • Hong-fei Liu
    • 1
  • Yi-hua Zhang
    • 1
  1. 1.School of TransportationJilin UniversityChangchunChina

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