Many books provide vehicle dynamics and tire dynamics equations. Most of them are either too complex or too simplified for global Vehicle Motion Control (VMC). This chapter is focusing on the couplings that exist between longitudinal, lateral and vertical dynamics at both the vehicle and tire level. The equations provided are simple but sufficient for global VMC. Several research papers and industrial patents tend to provide a control strategy for a standalone system. Simplified car models are taken into consideration from the beginning. As we are steering towards global VMC, more complex models are needed. Here, we start from complex equations that are simplified enough to facilitate control synthesis while capturing the required couplings for a coordinated control. Results show how this simplified global dynamics equations are close enough to more complex high-fidelity models. These equations should be therefore used for the next generation of global VMC.
Fundamentals on Vehicle and Tyre Modelling
CISM Courses and Lectures
16.12.2021
60 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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