Coupled module modelling approach and experimental validation of multi-wheeled vehicle dynamics in off-road conditions

This paper generates a novel coupled modelling approach targeting the multi-wheeled vehicle dynamics under the off-road conditions that contains irregularities of terrain and deformation of pavement. The dynamics model of each corner is based on the spring-damper system along radial and lateral to characterise the interaction between tyres and terrain considering the three dimensions interaction and the deformation of soil. The concept of module modelling is formulated to establish the flexible dynamics relationship between the corners and the centre of gravity, which has the ability to accommodate different configurations. The effectiveness of proposed model is validated experimentally through proof-of-concept experiments by a prototype vehicle with eight wheels. The results showcase the superior performance of the modelling algorithm in terms of accuracy along the longitudinal, lateral and vertical dimensions, in comparison with benchmarking Trucksim model. Simulation analysis is conducted along steady-state steering manoeuvres under different grade of uneven terrain and deformable pavement, which is responsible for the stability and quantitative analysis under off-road conditions.