Research on Differential Steering Mechanism Based on Tire Cornering

doi:10.3969/j.issn.1004-132X.2025.10.008

China Mechanical Engineering ›› 2025, Vol. 36 ›› Issue (10): 2224-2231.DOI: 10.3969/j.issn.1004-132X.2025.10.008

Research on Differential Steering Mechanism Based on Tire Cornering

Biaofei SHI¹^,²(), Xiaoming YE³, Haoyu LYU¹^,², Feng LAI³

^1.School of Vehicle and Mobility，Tsinghua University，Beijing，100084
^2.State Key Laboratory of Intelligent Green Vehicle and Mobility，Tsinghua University，Beijing，100084
^3.Research&Development Institute，Dongfeng Motor Corporation，Wuhan，430058

Received:2024-10-28 Online:2025-10-25 Published:2025-11-05
Contact: Biaofei SHI

基于轮胎侧偏的差动转向机理研究

史彪飞¹^,²(), 叶晓明³, 吕皓玉¹^,², 赖锋³

^1.清华大学车辆与运载学院, 北京, 100084
^2.清华大学智能绿色车辆与交通全国重点实验室, 北京, 100084
^3.东风汽车集团有限公司研发总院, 武汉, 430058

通讯作者: 史彪飞
作者简介:史彪飞^*（通信作者），男，1993年生，助理研究员、博士后研究人员。研究方向为汽车线控底盘、汽车动力学与控制。E-mail：1935792849@qq.com。
第一联系人：洪睿，女，1997年生，硕士研究生。研究方向为流体力学。E-mail： ah.hongrui@qq.com。胡建军^*（通信作者），男，1982年生，教授、博士研究生导师。研究方向为流体力学。E-mail： kewei729@163.com
基金资助:
山东省重点研发计划(2023CXGC010214);芜湖市“赤铸之光”重大科技成果工程化项目(2023zc02)

Abstract

Abstract:

Differential steering based on tire cornering suited low-speed， large steering radius scenarios of distributed drive electric vehicles（DDEV） without steering mechanisms. In order to study the mechanism of differential steering based on tire cornering， a 7-degree-of-freedom DDEV dynamic model with no steering mechanism and PAC2002 tire model were established. Then， the formation mechanism of differential steering was analyzed and a systematic analysis method from the input of differential longitudinal force to the output of vehicle steering radius of differential steering was proposed by considering the tire force longitudinal-lateral-coupling characteristics. Leveraging the proposed systematic analysis method， the stability of differential steering and the influences of differential longitudinal force， vehicle parameters and tire characteristics on steering radius were studied. Finally， a Carsim/Simulink joint simulation platform was established to simulate differential steering under different influencing factors. The results show that within the range of tire cornering， the larger the differential longitudinal force， the larger the ratio of track width to wheelbase， and the smaller the tire lateral stiffness， the smaller the steering radius.

Key words: distributed drive electric vehicle（DDEV）, differential steering, tire cornering, steering radius

摘要：

基于轮胎侧偏的差动转向适合于无转向机构分布式驱动车辆的低速、大转向半径场景，为深入研究该差动转向的机理，建立了7自由度无转向机构分布式驱动电动汽车整车模型及PAC2002轮胎模型，分析了差动转向的形成机理并结合轮胎纵侧耦合特性提出一种从差动纵向力输入到汽车转向半径输出的差动转向系统性分析方法，并基于此方法研究了差动转向稳定性及差动纵向力、车辆结构参数、轮胎特性等对转向半径的影响特性。最后建立了Carsim/Simulink联合仿真平台，进行不同影响因素下的差动转向仿真。研究结果表明，在轮胎侧偏范围内，差动纵向力越大、轮距与轴距之比越大、轮胎侧偏刚度越小，则所产生的汽车转向半径越小。

关键词: 分布式驱动电动汽车, 差动转向, 轮胎侧偏, 转向半径

CLC Number:

U461

Biaofei SHI, Xiaoming YE, Haoyu LYU, Feng LAI. Research on Differential Steering Mechanism Based on Tire Cornering[J]. China Mechanical Engineering, 2025, 36(10): 2224-2231.

史彪飞, 叶晓明, 吕皓玉, 赖锋. 基于轮胎侧偏的差动转向机理研究[J]. 中国机械工程, 2025, 36(10): 2224-2231.

Figures/Tables 2

References 14

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参数	数值	参数	数值
整车质量	2730 kg	轴距	2.81 m
轮距	1.62 m	质心高度	0.74 m
质心到前轴距离	1.529 m	车轮滚动半径	0.385 m
质心到后轴距离	1.281 m

参数	数值	参数	数值
整车质量	2730 kg	轴距	2.81 m
轮距	1.62 m	质心高度	0.74 m
质心到前轴距离	1.529 m	车轮滚动半径	0.385 m
质心到后轴距离	1.281 m

项目	数值
目标附加横摆力矩/（kN·m）	3	6	9
差动纵向力/N	926	1852	2778
四轮侧向力绝对值平均值/N	536	1077	1619
四轮侧偏角绝对值平均值/（°）	0.29	0.58	0.91
转向半径/m	239	121	79

项目	数值
目标附加横摆力矩/（kN·m）	3	6	9
差动纵向力/N	926	1852	2778
四轮侧向力绝对值平均值/N	536	1077	1619
四轮侧偏角绝对值平均值/（°）	0.29	0.58	0.91
转向半径/m	239	121	79

Research on Differential Steering Mechanism Based on Tire Cornering

基于轮胎侧偏的差动转向机理研究

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