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Tab. 3. The main statistical factors of error calculation for resulting sideslip angles

Table 3 Tab. 3. The main statistical factors of error calculation for resulting sideslip angles

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In [8] a diagram defining the set of vehicle angles during a vehicle left turn is presentec (see Figure. 1).
In [8] a diagram defining the set of vehicle angles during a vehicle left turn is presentec (see Figure. 1).
A medium-sized car was tested. The flat model presented in Figure. 2 is considered. 3. Demonstration of the calculation of sideslip angle according to the proposed method
A medium-sized car was tested. The flat model presented in Figure. 2 is considered. 3. Demonstration of the calculation of sideslip angle according to the proposed method
The car was equipped with 185/60 R14 winter tyres. Inflation pressure for front and rear wheels was 0.2 MPa. Tab. 1. Selected data of the tested car
The car was equipped with 185/60 R14 winter tyres. Inflation pressure for front and rear wheels was 0.2 MPa. Tab. 1. Selected data of the tested car
The main data of the tested car which is important with regard to the processing of tes results is presented in Table 1 (also see Figure. 1).
The main data of the tested car which is important with regard to the processing of tes results is presented in Table 1 (also see Figure. 1).
Fig. 4. Runs to obtained raw data measured and registered in the Vbox device [20]. The parts of the runs in section placed between from 4 s tol14 s is taken in account to further analysis. A worth of parameters which are listed on the right corresponds to a time moment 11,2 s.
Fig. 4. Runs to obtained raw data measured and registered in the Vbox device [20]. The parts of the runs in section placed between from 4 s tol14 s is taken in account to further analysis. A worth of parameters which are listed on the right corresponds to a time moment 11,2 s.
Data processing was realised in three parts:
Data processing was realised in three parts:
Fig. 6. The resulting sideslip angles (B_, B,,.) and their averages with standard deviations (c) in the steady state part of test (the scale on time axis scale starts from steady state moment of test) The resulting sideslip angles for steady state part of test (the part of runs between 7" and 10" s on the Figure 5) are presented in Figure. 6.
Fig. 6. The resulting sideslip angles (B_, B,,.) and their averages with standard deviations (c) in the steady state part of test (the scale on time axis scale starts from steady state moment of test) The resulting sideslip angles for steady state part of test (the part of runs between 7" and 10" s on the Figure 5) are presented in Figure. 6.
Fig. 7. Steady state circular test [6], [10]; constant speed test method; test velocity 80 km/h (22.22 m/s); left turn run; sideslip angle (B..) calculated on the basis according to proposed method and steering wheel angle (6,,) as function of lateral acceleration. GPS: The results of sideslip angle estimation in graphical form is presented in Figure 7. The run of this angle is showed as function as lateral acceleration (according to ISO 4138 require- ments). The run of steering wheel angle is also drew for general knowledge about steering characteristic of tested vehicle.
Fig. 7. Steady state circular test [6], [10]; constant speed test method; test velocity 80 km/h (22.22 m/s); left turn run; sideslip angle (B..) calculated on the basis according to proposed method and steering wheel angle (6,,) as function of lateral acceleration. GPS: The results of sideslip angle estimation in graphical form is presented in Figure 7. The run of this angle is showed as function as lateral acceleration (according to ISO 4138 require- ments). The run of steering wheel angle is also drew for general knowledge about steering characteristic of tested vehicle.
Tab. 2. The main parameters of the statistical calculation of errors for first example
Tab. 2. The main parameters of the statistical calculation of errors for first example
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