Abstract
In recent years, the development of electric vehicles has boosted the autonomous vehicle technology. The electric vehicle can be controlled with precision and ease by manipulating the input current to the motor. This feature is highly valued in autonomous vehicle since precise control is required during critical maneuvering. However, heavy load tends to affect the performance of the electric vehicle. During a sharp turn or cornering the vehicle tends to experience load transfer. This causes the vehicle to experience extra load on one side of the vehicle compared to the other. Addition of load on either side will further increase the stress on the motor causing the vehicle to experience instability. This instability can be an unidentified external disturbance to the autonomous vehicle control. Thus, this paper is designed to uncover the effect of unbalanced overloading on steering of electric vehicle during tight cornering. Firstly, a simulation model on two in-wheel electric vehicle is developed. The analysis of the electric vehicle steering is conducted using the developed simulation model. Based on the result, increasing load on the side corresponding to the direction of the lateral motion causes the vehicle to experience oversteer. For instance, as the load on the right side of the vehicle is increased by 60%, the vehicle loses control and start skidding. On the other hand, increasing load on the left side causes the vehicle to experience understeer. This can affect the reliability of the controller in an autonomous vehicle since this external disturbance can be large at higher velocity.
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Abbreviations
- \(m_{t}\) :
-
Total mass of the vehicle
- \(h_{{cg}}\) :
-
Height of the centre of gravity of the vehicle from the ground
- \({\ddot{\text{x}}}\) :
-
Longitudinal acceleration
- \(C_{{\alpha f}}\) :
-
Front tire cornering stiffness
- \(C_{{\alpha r}}\) :
-
Rear tire cornering stiffness
- \(C_{\sigma }\) :
-
Longitudinal tire stiffness
- \(F_{{xij}}\) :
-
Longitudinal force with i = front/rear and j = left/right
- \(F_{{yij}}\) :
-
Lateral force with i = front/rear and j = left/right
- \(I_{z}\) :
-
Yaw moment of inertia
- \(F_{{zij}}\) :
-
Vertical force acting on each tire with i = front/rear and j = right/left
- \(l_{f}\) :
-
Length of the front wheels from the centre of gravity
- \(load_{{ij}}\) :
-
Additional load at each wheel with i = front/rear and j = right/left
- \(l_{r}\) :
-
Length of rear wheel from the centre of the gravity
- \(l_{w}\) :
-
Track width
- \(m_{{sij}}\) :
-
Static mass at each wheel with i = front/rear and j = left/right
- \(\ddot{y}\) :
-
Lateral acceleration
- \(\ddot{\varphi }\) :
-
Yaw acceleration
- \(\text{k }\) :
-
Road constant
- \(g\) :
-
Gravitational acceleration
- \(l\) :
-
Sum of \(l_{f}\) and \(l_{r}\)
- \(\alpha\) :
-
Tire slip angle
- \(\delta\) :
-
Wheel steering angle
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Acknowledgement
The authors would like to thank the Ministry of Higher Education for providing financial support under Fundamental Research Grant Scheme (FRGS) No. FRGS/1/2018/TK08/UMP/02/1 (University reference RDU190104) and Universiti Malaysia Pahang for laboratory facilities as well as additional financial support under Internal Research grant RDU1903139 and RDU1803139.
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Kunjunni, B., Zakaria, M.A.b., Peeie, M.H.B., Ishak, M.I. (2021). An Investigation on the Effect of Unbalanced Overloading on Compact Electric Vehicle Steering During Tight Cornering. In: Chew, E., et al. RiTA 2020. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-4803-8_30
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DOI: https://doi.org/10.1007/978-981-16-4803-8_30
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