Title: Fundamentals of the tyre-ground interaction for designing vehicle autonomous systems

Authors: S.B. Shukhman, A.S. Pereladov

Addresses: “NAMI-Service”, Avtomotornaya ul., 4a, Moscow 125438, Russia. ' “NAMI-Service”, Avtomotornaya ul., 4a, Moscow 125438, Russia

Abstract: A potential assessment criterion of an algorithm for vehicle transmissions| automatic control systems is considered in present paper. A method to evaluate tyred wheels impact on a soil is also suggested. The method takes into account both the normal pressure of the wheel on a soil and the wheel slip coefficient. The proposed complex characteristic allows engineers to conduct a comparable analysis of wheeled vehicles depending on weight distribution, type of a drive system and tyre models, inflation pressure. As a result, when designing an autonomous vehicle, this method gives an opportunity to reduce a destructive impact on soil, which the vehicle could provide with.

Keywords: all-wheel drive vehicle; impact on soil; autonomous vehicles; automatic control; vehicle transmission.

DOI: 10.1504/IJVAS.2003.004374

International Journal of Vehicle Autonomous Systems, 2003 Vol.1 No.3/4, pp.309 - 315

Published online: 10 May 2004 *

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