ABSTRACT
When a vehicle drives through a curve at low lateral acceleration, small lateral forces will be needed for course holding. Then, lateral slip hardly occurs at the wheels. In the ideal case at vanishing lateral slip, the wheels only move in a circumferential direction. The velocity component of the contact point in the lateral direction of the tire then vanishes
vy = e T y v0P = 0 . (9.1)
This constraint equation can be used as a “kinematic tire model” for course calculation of vehicles moving in the low lateral acceleration range.
