Parameter Identification of Tractor-Semitrailer Model under Steering and Braking

Figure 5

Key parameter maps at the initial vehicle speed of 20 km/h: (a) cornering stiffness of the tractor’s front axle; (b) cornering stiffness of the tractor’s rear axle; (c) cornering stiffness of the semitrailer’s axle; (d) roll stiffness of the tractor’s sprung mass; (e) roll stiffness of the semitrailer’s sprung mass; (f) roll stiffness of the fifth wheel.

(a)

(b)

(c)

(d)

(e)

(f)