Table 1 Rule of changing under scenario 2
Conditions | ← Right first wheel (if) | Left first wheel (if) |
|---|---|---|
a1 | \(B_{br1} > 0,\) \(A_{br1} > 0,\) \(\delta_{i} > 0\) | \(B_{bl1} < 0,\) \(A_{bl1} < 0,\) \(\delta_{i} \ge 0\) |
a2 | Impossible under \(\delta_{i} \ge 0\) | \(B_{bl1} < 0,\) \(A_{bl1} \ge 0,\) \(\delta_{i} \ge 0\) |
a3 | \(B_{br1} \le 0,\) \(A_{br1} > 0,\) \(\delta_{i} \ge 0\) | Impossible under \(\delta_{i} \ge 0\) |
a4 | Impossible under \(\delta_{i} \ge 0\) | Impossible under \(\delta_{i} \ge 0\) |
Conditions | ← Right wheel i = 2, 3, 4 (if) | Left wheel i = 2, 3, 4 (if) |
|---|---|---|
a1 | A) \(l_{i - 1} - l_{v} > 0,\) \(B_{bri} > 0,\) \(A_{bri} > 0,\) \(\delta_{i} > 0\) B) \(l_{i - 1} - l_{v} < 0,\) \(B_{bri} > 0,\) \(A_{bri} > 0,\) \(\delta_{i} > 0\) C) \(l_{i - 1} - l_{v} > 0,\) \(B_{bri} > 0,\) \(A_{bri} > 0,\) \(\delta_{i} = 0\) D) \(l_{i - 1} - l_{v} = 0,\)\(\delta_{i} > 0\) | A) \(l_{i - 1} - l_{v} > 0,\) \(B_{bli} < 0,\) \(A_{bli} < 0,\) \(\delta_{i} > 0\) B) \(l_{i - 1} - l_{v} < 0,\) \(B_{bli} < 0,\) \(A_{bli} < 0,\) \(\delta_{i} > 0\) C) \(l_{i - 1} - l_{v} < 0,\) \(B_{bli} < 0,\) \(A_{bli} < 0,\) \(\delta_{i} = 0\) D) \(l_{i - 1} - l_{v} = 0,\) \(\delta_{i} > 0\) |
a2 | \(l_{i - 1} - l_{v} > 0,\) \(B_{bri} > 0,\) \(A_{bri} < 0,\) \(\delta_{i} > 0\) | \(l_{i - 1} - l_{v} < 0\) \(B_{bli} < 0\) \(A_{bli} > 0\) \(\delta_{i} > 0\) |
a3 | A) \(l_{i - 1} - l_{v} < 0,\) \(B_{bri} \le 0,\) \(A_{bri} > 0,\) \(\delta_{i} > 0\) B) \(l_{i - 1} - l_{v} < 0,\) \(B_{bri} < 0,\) \(A_{bri} > 0,\) \(\delta_{i} = 0\) C) \(l_{i - 1} - l_{v} = 0,\) \(\delta_{i} = 0\) | A) \(l_{i - 1} - l_{v} > 0,\) \(B_{bli} \ge 0,\) \(A_{bli} < 0,\) \(\delta_{i} > 0\) B) \(l_{i - 1} - l_{v} > 0,\) \(B_{bli} > 0,\) \(A_{bli} < 0,\) \(\delta_{i} = 0\) C) \(l_{i - 1} - l_{v} = 0,\) \(\delta_{i} = 0\) |
a4 | \(B_{bri} = 0,\) \(A_{bri} = 0\) (Cannot use this wheel to brake) | \(B_{bli} = 0,\) \(A_{bli} = 0\) (Cannot use this wheel to brake) |