Model of Vehicle Motion Along a Curved Trajectory Taking into Account Rolling Friction

This article is devoted to the problem of adequate mathematical description of the process of vehicle movement along a curved trajectory considering the impact of the correlation of the dynamic and kinematic parameters of this process. The importance of considering the impact of forces of resistance to vehicle movement in the direction of rolling, when moving along a curved trajectory, on the minimum permissible radius of curvature at a given speed or on the maximum possible speed of the vehicle for a given radius of curvature of its trajectory is emphasised.
At present, when a vehicle moves along a curved trajectory, the minimum radius of curvature at a given speed or the maximum permissible speed for a given radius of curvature of the trajectory are determined without taking into account the resistance forces to movement in the direction of rolling. This leads to an unjustified overestimation of the maximum permissible speed of the vehicle when moving along a curved trajectory with a given radius of curvature, which, in turn, when creating software for unmanned vehicles, can lead to an increase in accidents.
The article proposes an innovative solution to this problem by taking into account the influence of rolling friction and resistance moments in the elements of the vehicle transmission on the magnitude of the centripetal force acting on the vehicle when moving along a curved trajectory.
The objective of the study is to develop a mathematical model of vehicle movement along a curved trajectory taking into account the influence of rolling friction and resistance forces in the vehicle transmission on the maximum possible vehicle speed at a given radius of curvature of the trajectory and on the minimum possible radius of curvature of the trajectory at a given vehicle speed.
It has been established that the force of resistance to vehicle movement in the rolling direction reduces the magnitude of the centripetal force ensuring vehicle movement along a curved trajectory of a certain curvature by an amount equal to the force of resistance to movement in the rolling direction of the vehicle.

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