Simulation of rear wheel steering in a vehicle towing a single axle trailer with variable load distribution

This is the dataset for a publication on the stability of automotive vehicles when towing single axle trailers. The loading of the trailer is critical for stability, if the load distribution is too far back, then the trailer will begin to sway uncontrollably, dictating the track of the vehicle.In this research, small proportional control of the rear wheel steering of a larger towing vehicle is shown to be able to further stabilize the system easily, thus improving the safety margin. This is based on control measurements of the yaw angle, either directly measured or inferred from rear camera / parking sensor measurements.The simulation environment is Simulink and all scripts are included to initialise and plot the results. The work is based on the built in example "Two axle vehicle towing one axle trailer" with modifications to enable control algorithms for rear wheel steering control and variable load distribution. Reference for the original model is available at:T. M. Inc., Vehicle dynamics blockset version: 2.0 (r2023a) (2022). https://www.mathworks.comT. M. Inc., Trailer body 3dof documentation (2020). https://uk.mathworks.com/help/vdynblks/ref/trailerbody3dof.html<br>

本数据集对应一篇探讨汽车拖拽单轴挂车时行驶稳定性的学术论文。挂车载荷分布对车辆稳定性至关重要，若载荷过于靠后，挂车将出现无控摆振，进而主导整车行驶轨迹。本研究表明，对大型牵引车辆的后轮转向实施小幅比例控制，即可便捷地进一步稳定系统，从而提升安全裕度。该控制方案基于横摆角（yaw angle）的测量数据，横摆角既可以直接测得，也可通过后置摄像头或驻车传感器的测量值推算得到。本研究的仿真环境采用Simulink，附带所有用于初始化仿真与绘制结果的脚本文件。本工作基于官方内置示例模型“双轴车辆拖拽单轴挂车”进行修改，以适配后轮转向控制算法与可变载荷分布场景。原始模型的参考文献如下：
T. M. Inc., 车辆动力学模块集版本：2.0 (r2023a) (2022). https://www.mathworks.com
T. M. Inc., 挂车刚体三自由度文档 (2020). https://uk.mathworks.com/help/vdynblks/ref/trailerbody3dof.html

搜集汇总

背景与挑战

背景概述

该数据集基于Simulink环境，模拟了车辆拖挂单轴拖车时后轮转向对稳定性的影响，重点研究可变负载分布如何导致拖车摇摆失控，并通过比例控制后轮转向来提升安全裕度。数据集包含初始化脚本和结果绘图代码，适用于车辆动力学和安全性研究，关键词涵盖车辆动态、拖车稳定性和后轮转向控制。