On the Effect of Aligning Moments on the Wheeled Vehicle Dynamics at \(\boldsymbol{\mu}\)-Split

The motion of a biaxial four-wheeled vehicle is simulated on the \(\mu\)-split surface, which is a section of the reference plane containing regions with different friction coefficients, in the case when the friction coefficient for one of the wheels of the driving axis turns out to be significantly less than the friction coefficient for the remaining wheels. The effects of the longitudinal and transverse deformations of the wheels and of the aligning moments on the dynamics of its body are studied under the assumption that the wheels of the vehicle do not lose grip with the reference plane.