Active tilting narrow vehicles can prevent rollover and improve riding stability through active tilting technology during steering, but it is difficult to obtain the turning radius and solve the optimal tilting angle. In this paper, based on the active tilting three-wheeled vehicle (ATTWV), the geometric analysis method of steering wheel’s alignment was proposed and used to calculate the specific formula of turning radius during steering and tilting, and the effect of tilting on the turning radius was studied. Based on the steering and tilting mathematical model of force equilibrium state, the ideal tilting angle was solved and the S-shaped curve steering test verification was carried out with the prototype vehicle. The results show that the lateral acceleration of the vehicle fluctuates within ±0.16g during steering, realizing the equilibrium between the component of gravity and centrifugal force. The average error between the actual tilting angle and the calculated ideal tilting angle is 1.18°. Based on steering and tilting mathematical model of the rollover critical state of the ATTWV, the safe turning speed under the specific tilting angle can be solved, and the value range of the tilting strength coefficient can be obtained, which provides not only a reference for the control of ATTWVs but also a theoretical basis for the research on accurate self-driving control of the active tilting narrow vehicles in the future.

主动倾斜窄车在转向过程中通过主动倾斜技术可以防止侧翻，提高行驶稳定性，但难以获得转弯半径并解决最佳倾斜角度。本文以主动倾斜三轮车（ATTWV）为基础，提出了方向盘定位几何分析方法，并用于计算转向和倾斜过程中转弯半径的具体公式，以及倾斜对转弯的影响。半径进行了研究。基于力平衡状态的转向和倾斜数学模型，求解了理想的倾斜角，并用样车进行了S形曲线转向试验验证。结果表明，车辆横向加速度在±0.16 g范围内波动在转向过程中，实现重力分量和离心力的平衡。实际倾角与计算出的理想倾角的平均误差为1.18°。基于ATTWV侧翻临界状态的转向和倾斜数学模型，求解了特定倾斜角下的安全转向速度，得到了倾斜强度系数的取值范围，不仅为车辆侧翻提供了参考。为未来主动倾斜窄车精准自动驾驶控制研究提供理论基础。