Evaluation of Tire Sideslip of a Multi-axle Semitrailer during Low-speed Turning

This study presents a method for calculating the sideslip angle that occurs in a semitrailer-connected vehicle and proposes a motion model considering sideslip. When considering the motion of a semitrailer, sideslip is generally ignored, however, it occurs on the tires. In this paper, a steady circle turn is defined as a state in which vehicles run with a constant connection angle and speed. An experiment was conducted in which the model vehicle made a steady circle turn, and the sideslip angles generated at the rear wheels of the tractor and trailer are calculated from the trajectory of the semitrailer. The sideslip angles are constant even if the connection angle is changed. The direction of sideslips is reversed when the turning direction is reversed. This tendency is similar when the number of axles on the rear wheels of the trailer is one or two. It was confirmed that the trajectory of a turning semitrailer can be simulated more accurately by considering a motion model considering sideslip.