Fig 1.
Planar dynamic model of the DSAGV.
Fig 2.
Differential steering system.
Fig 3.
Roll dynamics model of the DSAGV (rear view).
Fig 4.
Control block diagram.
Fig 5.
Curves of double lane change simulation.
(A) Trajectory; (B) Yaw angle; (C) Differential moment; (D) Front-wheel steering angle; (E) Body roll angle; (F) Roll moment; (G) Occupant perceived lateral acceleration; (H) Lateral load transfer ratio.
Fig 6.
90o turning simulation. (A) Trajectory; (B) Yaw angle; (C) Differential moment; (D) Front-wheel steering angle; (E) Body roll angle; (F) Roll moment; (G) Occupant perceived lateral acceleration; (H) Lateral load transfer ratio.