theoretical and experimental investigation on the vehicle lateral deviation due to the braking force error

in this paper the effect of braking force error on the dynamic behavior of the truck is investigated. in the previous studies concerning the braking force error on the vehicle lateral deviation, to avoid complexity, researchers have assumed that the vehicle velocity during the braking process remains constant. in the present work, based on the realistic assumption that the vehicle velocity would decrease during the braking process, and by considering the linear bicycle model for the vehicle, the equations of motion are derived. the equations are solved numerically and the results are compared with those reported in the literature and those obtained experimentally. it is shown that the implication of the realistic assumption leads to more accurate results. the results have been validated by conducting experimental tests on azarakhsh 6-ton truck.