In the paper the dynamic behaviour of a vehicle under several braking conditions is studied by a computer simulation. A process of braking is executed simultaneously with avoiding an obstacle on a flat road with non-homogeneous surface. To carry out the simulation a vehicle-road-driver (VRD) system has been modelled. The part of the system is a discrete model of the vehicle. Four masses with seventeen degrees of freedom are used. Original features of the model are as follows: longitudinal stiffness and damping in connection with sprung and unsprung masses, rotational stiffness and damping of the suspensions. A model of the driver is presumed as rigid with no feedback. The road is simulated by means of two random The road is simulated by means of two random functions where the first one determines the friction forces between tyre and road and the second one determines the distance along the road in which friction appears. A part of the VRD system is the electronic devices of the vehicle, treated as a subsystem. In this work only the braking antilocking device (ABS) is considered. The kinematic and dynamic parameters of a braked vehicle are obtained as results of the simulation. (A)
Abstract