Simulation of Chevy and BMW turning research

When driving a car, the steering ability is one of the most important abilities. It determines the comfort level, stability, safety of the car. So far, basic on the consideration of security, AFS combine manual control and electric control to steer has been used at present. In the area of assisted steering, EPS has quickly developed and become the first choice of small cars. In this program, my teammate and I used Python code to simulate four different circumstances: 1. BMW linear U-turn 2. BMW linear lane change 3.BMW non-linear force model 4. sharper turns-BMW. The article also plot the front tire force and the front tire slip angle vs time. By using function plot_trajectory, the article plot the Trajectory of Chevy((x(t), y(t)) and χ(t) vs t) for the non-linear force model for the U-turn above. At last, the article plot the front force and slip angle by our plot-forces function. From the final outcome,the article find that the car is successfully complete both maneuvers. The article observe that when the car is turning, the chi(t) is changing too. The U turn’s values of y(t) and chi(t) are larger than lane change. The second thing the article find is non-linear u_turn is harder to complete than linear. Lane change doesn’t have too much difference. For t_end, The article think it is necessary to make sure chi is bigger than 180 when the sharper of two curves are the same. The F_f of the linear tent is to be larger than nonlinear in the linear model. The article also compare Chevy car with BMW car in the simulation, on U-turn speed and it turns out that Chevy car is faster. BMW completes sharper turns with minimal turn radius and turns time.The article use the date to calculate their F_f. If F_f is smaller, the car can complete sharper turns with minimal turn radius and turn times.