This document is a user's manual for the computer-based mathematical simulation program entitled qConstant velocity yaw/roll modelq developed in 1980 at The University of Michigan Transportation Research Institute. This manual provides an introduction to the simulation program with a description of its external characteristics sufficient for a user to submit a run and interpret the output obtained. Additional documentation describing the modeling of the vehicles inside the program is given in appendix C. As the name suggests, the constant velocity yaw/roll model simulates the turning and rolling behavior of motor vehicles in constant-speed maneuvers. Turning behavior may be controlled either by defined steering inputs or by a driver model following a prescribed trajectory. The model's particular features are tailored to simulation of trucks and tractor-trailers, accommodating up to four vehicle units. The simulation is particularly vesatile in representation of multiple-axle configurations and different types of hitching mechanisms between the vehicle units. The simulation generates time-based output indicating motions of each vehicle and the controlling forces internal to the vehicles.This manual provides an introduction to the simulation program with a description of its external characteristics sufficient for a user to submit a run and interpret the output obtained.
|Title||:||Constant Velocity Yaw/roll Program|
|Author||:||Thomas D. Gillespie, C. C. MacAdam, University of Michigan. Transportation Research Institute, Ford Motor Company|