Driver Steering Control and Full Vehicle Dynamics Study Based on a Nonlinear Three-Directional Coupled Heavy-Duty Vehicle Model

Table 1

Vehicle responses obtained from three driver models.

Vehicle speed	Driver model	RMS value of vehicle responses
		20 km/h	Modified	19.6664	0.0275	0.1502	8.7509	0.0761	0.0881
Guo	19.4814		0.0282	0.1521	8.8660	0.1040	0.0907
Legouis	19.6096		0.0290	0.1577	8.2941	0.1132	0.0981
40 km/h	Modified	39.1248	0.0335	0.3637	7.6438	0.0538	0.0512
	Guo	38.9585	0.0384	0.4153	8.2067	0.0816	0.0648
	Legouis	39.0766	0.0418	0.4525	7.2862	0.0932	0.0711
60 km/h	Modified	58.5076	0.0562	0.9101	8.5539	0.0763	0.0521
	Guo	58.3891	0.0724	1.1655	8.6102	0.1141	0.0496
	Legouis	58.4330	0.0707	1.1430	7.8777	0.1158	0.0438
80 km/h	Modified	77.8115	0.1247	2.6747	7.7705	0.1033	0.0377
	Guo	77.7521	0.1194	2.5606	9.5193	0.1140	0.0552
	Legouis	77.5487	0.2115	4.4610	9.3090	0.6380	0.0522