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Handling characteristics of a four-axle electric vehicle

The steady state handling properties of a rigid four-axle electric vehicle are developed. These quantities are derived from steady state conditions of such four-axle electric vehicle model, which is analogous to well-know two-axle bicycle model. Specifically the concept of equivalent wheelbase and understeer coefficient are generated and can be directly computed for various arbitrary four-axle electric vehicle configurations. It is found that inversely steering rear axles improves both the equivalent wheelbase and understeer coefficient. Simulation results shows handling performance is improved by making use of all the wheels for steering.