CEE 320

Winter 2006

Vehicle Dynamics
CEE 320
Steve Muench

Outline
1. Resistance
a. Aerodynamic
b. Rolling
c. Grade

CEE 320
Winter 2006

2.
3.
4.
5.

Tractive Effort
Acceleration
Braking Force
Stopping Sight Distance (SSD)

Main Concepts

Resistance
Tractive effort
Vehicle acceleration
Braking
Stopping distance

CEE 320
Winter 2006

F ma Ra Rrl Rg

Resistance
Resistance is defined as the force impeding
vehicle motion
1.
2.
3.
4.

What is this force?

Aerodynamic resistance
Rolling resistance
Grade resistance

CEE 320
Winter 2006

F ma Ra Rrl Rg

Aerodynamic Resistance Ra
Composed of:
1. Turbulent air flow around vehicle body (85%)
2. Friction of air over vehicle body (12%)
3. Vehicle component resistance, from radiators
and air vents (3%)

CEE 320
Winter 2006

Ra C D A f V 2
2

3
PRa C D A f V
2
from National Research Council Canada

1 hp 550

ft lb
sec

Rolling Resistance Rrl

Composed primarily of
1. Resistance from tire deformation (90%)
2. Tire penetration and surface compression ( 4%)
3. Tire slippage and air circulation around wheel ( 6%)
4. Wide range of factors affect total rolling resistance
5. Simplifying approximation:

CEE 320
Winter 2006

Rrl f rlW
PR rl f rlWV
1 hp 550

ft lb
sec

f rl 0.01 1

147

Grade Resistance Rg
Composed of
Gravitational force acting on the vehicle

Rg W sin g
For small angles,

sin g tan g

Rg W tan g

CEE 320
Winter 2006

tan g G

Rg WG

g
Rg
g

Available Tractive Effort

The minimum of:
1. Force generated by the engine, Fe
2. Maximum value that is a function of the
vehicles weight distribution and road-tire
interaction, Fmax

CEE 320
Winter 2006

Available tractive effort min Fe , Fmax

CEE 320
Winter 2006

Tractive Effort Relationships

Engine-Generated Tractive Effort

Force

M e 0 d
Fe
r
Power

Me = Engine torque (ft-lb)

0 = Gear reduction ratio
d = Driveline efficiency
r = Wheel radius (ft)

ft lb torque ft lb engine rpm

hp 550

2

sec
550
sec

60

min

CEE 320
Winter 2006

Fe = Engine generated tractive effort

reaching wheels (lb)

Vehicle Speed vs. Engine Speed

2rne 1 i
V
0
V = velocity (ft/s)
r = wheel radius (ft)
ne = crankshaft rps
i = driveline slippage

CEE 320
Winter 2006

0 = gear reduction ratio

CEE 320
Winter 2006

Typical Torque-Power Curves

Maximum Tractive Effort

Front Wheel Drive Vehicle

Rear Wheel Drive Vehicle

CEE 320
Winter 2006

What about 4WD?

Fmax

Fmax

lr f rl h
W
L
h
1
L

l
W

f rl h
L
h
1
L
f

Diagram
R

ma

rlf

bf

lf

W
g
R

rlr

lr

CEE 320
Winter 2006

br

Vehicle Acceleration
Governing Equation

F R m ma
Mass Factor
(accounts for inertia of vehicles rotating parts)

CEE 320
Winter 2006

m 1.04 0.0025 02

Example
A 1989 Ford 5.0L Mustang Convertible starts on a flat grade from a dead
stop as fast as possible. Whats the maximum acceleration it can
achieve before spinning its wheels? = 0.40 (wet, bad pavement)
1989 Ford 5.0L Mustang Convertible
Torque 300 @ 3200 rpm
Curb Weight 3640
Weight Distribution Front 57%

Rear 43%

Wheelbase 100.5 in
Tire Size P225/60R15
Gear Reduction Ratio 3.8
CEE 320
Winter 2006

Driveline efficiency 90%

Center of Gravity 20 inches high

Braking Force
Front axle

CEE 320
Winter 2006

Rear axle

Fbf

max

Fbr max

W lr h f rl

L
W l f h f rl

Braking Force
Ratio

l r h f rl
front
BFR

l f h f rl rear

CEE 320
Winter 2006

g max
Efficiency b

Braking Distance
Theoretical
ignoring air resistance

Practical

Perception

CEE 320
Winter 2006

Total

b V12 V22
S
2 g b f rl sin g

V12 V22
d
a

2 g G
g

d p V1t p

ds d d p

For grade = 0

V12 V22
d
2a

Stopping Sight Distance (SSD)

Worst-case conditions
Poor driver skills
Low braking efficiency
Wet pavement

Perception-reaction time = 2.5 seconds

Equation
2

CEE 320
Winter 2006

SSD

2 g

V1
V1t r

a
G
g

Stopping Sight Distance (SSD)

CEE 320
Winter 2006

from ASSHTO A Policy on Geometric Design of Highways and Streets, 2001

Note: this table assumes level grade (G = 0)

SSD Quick and Dirty

1. Acceleration due to gravity, g = 32.2 ft/sec2
2. There are 1.47 ft/sec per mph
3. Assume G = 0 (flat grade)

V12 V22
1.47 V12 0
1.47 2
1
V2
V2
2
d

V 1.075
1.075
2 g a g G 2 32.211.2 32.2 0
2
11.2
11.2
a
d p 1.47 V1 t p 1.47Vt p

CEE 320
Winter 2006

V2
d s 1.075
1.47Vt p
a

V = V1 in mph
a = deceleration, 11.2 ft/s2 in US customary units
tp = Conservative perception / reaction time = 2.5 seconds

CEE 320
Winter 2006

Primary References
Mannering, F.L.; Kilareski, W.P. and Washburn, S.S. (2005).
Principles of Highway Engineering and Traffic Analysis, Third
Edition). Chapter 2

CEE 320
Winter 2006

American Association of State Highway and Transportation

Officals (AASHTO). (2001). A Policy on Geometric Design of
Highways and Streets, Fourth Edition. Washington, D.C.