Algorithmic Support for Proactive Motion Control of Unmanned Vehicles Motor Vehicles in Intelligent Transport Systems in Conditions of Possible Aquaplaning

this article presents an improved analytical model for calculating the threshold speed for the onset of full hydroplaning of a single wheel on a passenger car. A distinctive feature of this approach is the consistent refinement of the geometric parameters of the water wedge (angle of attack and wetted surface area) and a detailed description of the hydraulic resistance of the tread grooves using the continuous Churchill formula for the friction coefficient, which is valid across the entire spectrum of Reynolds numbers — from laminar to fully developed turbulent flow, including the transition region. This approach eliminates the need for an a priori selection of the design mode and ensures a smooth functional relationship between the critical speed and the initial parameters. Losses at the groove entrance are calculated using a classical hydraulic model — using the dynamic pressure in a narrow cross-section, and the driving pressure difference is assumed to be equal to the full dynamic pressure of the oncoming flow. Based on the proposed model, algorithmic support has been developed for proactively controlling the movement of unmanned vehicles as part of intelligent transport systems. The composition and purpose of the onboard sensor subsystems required to obtain initial data in real time are determined. A numerical example demonstrating the convergence of the iterative procedure is presented, and a comparison with known engineering methods is made.