Abstract
The handling characteristic is a classical topic of vehicle dynamics. Usually, vehicle handling is studied through the analysis of the understeer coefficient in quasi-steady-state maneuvers. In this paper, experimental tests are performed on an electric vehicle with four independent motors, which is able to reproduce front-wheel-drive, rear-wheel-drive and all-wheel-drive (FWD, RWD and AWD, respectively) architectures. The handling characteristics of each architecture are inferred through classical and new concepts. More specifically, the study presents a procedure to compute the longitudinal and lateral tire forces, which is based on a first estimate and a subsequent correction of the tire forces that guarantee the equilibrium. A yaw moment analysis is then performed to identify the contributions of the longitudinal and lateral forces. The results show a good agreement between the classical and new formulations of the understeer coefficient, and allow to infer a relationship between the understeer coefficient and the yaw moment analysis. The handling characteristics for the considered maneuvers vary with the vehicle speed and front-to-rear wheel torque distribution. In particular, an apparently surprising result arises at low speed, where the RWD architecture is the most understeering configuration. This outcome is discussed through the yaw moment analysis, highlighting the yaw moment caused by the longitudinal forces of the front tires, which is significant for high values of lateral acceleration and steering angle.