Abstract:
A mathematical model and condition for drifting of vehicles are presented in
this paper. Employing the condition for possible steady-state drifting, the
mathematical model of a vehicle with lateral weight lift during turning and
drifting as well as adopting a combined tyre force model enables to reduce the
number of equations of motion to a set of nonlinear coupled algebraic
equations. The solution of the equations are the longitudinal and lateral
components of the velocity vector of the vehicle at its mass centre and the
vehicle’s yaw rate. The numerical values of the variables are associated with an
equilibrium at which the vehicle drifts steadily. The equilibrium point should be
analysed for stability by examining for any small disturbance should disappear.
The procedure applied to a nominal vehicle indicates that an equilibrium point
exists for every given value of the steering angle as the input. Also, it is shown
that the equilibrium point is unstable. Hence, to keep the vehicle at the
associated steady-state drifting, the value of the yaw rate must be kept constant.
