Car parameters

Value Units Source a)

Kerb Weight
+2
passengers 2054 Kg

Kerb Weight 1904 Kg

Wheelbase 3.236 m
b)
Cf -202,827 N/rad
Cr -202,827 N/rad c)

% weight
distribution
(f/r) 1.17

Steer Wheel
ratio 17.4
Roundabout 80 m

d) e)
Derivative Factors (Force) Derivative Factors (Moment)

Vel(km/h) Vel(m/s) Yβ Yω Yδ Nβ Nω
10 2.777778 -405,654 18902.8329 202,827 52507.8692 -384756.58
20 5.555556 -405,654 9451.41645 202,827 52507.8692 -192378.29
30 8.333333 -405,654 6300.9443 202,827 52507.8692 -128252.19
40 11.11111 -405,654 4725.70822 202,827 52507.8692 -96189.145
50 13.88889 -405,654 3780.56658 202,827 52507.8692 -76951.316
60 16.66667 -405,654 3150.47215 202,827 52507.8692 -64126.096
70 19.44444 -405,654 2700.4047 202,827 52507.8692 -54965.225
80 22.22222 -405,654 2362.85411 202,827 52507.8692 -48094.572
90 25 -405,654 2100.31477 202,827 52507.8692 -42750.731
s)
100 27.77778 -405,654 1890.28329 202,827 52507.8692 -38475.658
110 30.55556 -405,654 1718.43935 202,827 52507.8692 -34977.871
120 33.33333 -405,654 1575.23607 202,827 52507.8692 -32063.048
130 36.11111 -405,654 1454.06407 202,827 52507.8692 -29596.66
140 38.88889 -405,654 1350.20235 202,827 52507.8692 -27482.613
150 41.66667 -405,654 1260.18886 202,827 52507.8692 -25650.439
160 44.44444 -405,654 1181.42706 202,827 52507.8692 -24047.286
170 47.22222 -405,654 1111.93135 202,827 52507.8692 -22632.74
180 50 -405,654 1050.15738 202,827 52507.8692 -21375.365
190 52.77778 -405,654 994.885942 202,827 52507.8692 -20250.346
200 55.55556 -405,654 945.141645 202,827 52507.8692 -19237.829

ρ ω
0.45
0.014
0.4
 ρ ω
0.45
0.014
0.4
0.012
0.35
0.01
0.3

Yaw Velocity (rad/s)

Curvature (m-1)

0.008 0.25

0.006 0.2

0.15
0.004
0.1
0.002
0.05

0 0
0 20 40 60 80 100 120 140 160 180 200 0 20 40 60 80
Velocity (km/h) Veloci
 j)
Steering Vel(km/h) Vel(m/s) β
δack 0.04045 0.04045 90 25 -0.0125817

a 1.48856 1.48856

b 1.74744 1.74744 Wheel

Df -0.053645996 -0.053645996 Int Angle 0.04045 Rad
o)
Dr -0.045698441 -0.045698441 Cor Angle 0.04677928 Rad
K 0.0079475549 0.0079475549 1st β -0.0125817 Rad
p)

New β -0.0145504 Rad

q)
1st Alat 6.75546097 m/s2
New Alat 7.8125 m/s2
1st Radius 92.5177428 m
New Radius 80 m

e) f) g) h) i)
e Factors (Moment) Gains Answ

Nδ Q β/δ ω/δ ρ/δ A/δ β

301920.248 -1.55385E+11 0.5278727167 0.85674356 0.3084276805 2.37984321 0.02135245
301920.248 -78141944726 0.4917698338 1.70363317 0.30665397 9.4646287 0.01989209
301920.248 -52593940758 0.4325123618 2.53118908 0.3037426901 21.0932424 0.01749513
301920.248 -39969732057 0.3514173507 3.33065052 0.2997585466 37.007228 0.01421483
301920.248 -32515041462 0.2502264973 4.09426539 0.2947871077 56.864797 0.01012166
301920.248 -27645109920 0.1310163866 4.81550658 0.2889303949 80.258443 0.00529961
301920.248 -24252183551 -0.003901394 5.48920506 0.2823019747 106.734543 -0.0001578
301920.248 -21782385416 -0.152081957 6.11159918 0.2750219629 135.813315 -0.0061517
301920.248 -19928006103 -0.311043267 6.68030751 0.2672123003 167.007688 -0.0125817
301920.248 -18504419965 -0.478351018 7.1942384 0.2589925825 199.839956 -0.0193493
301920.248 -17394137955 -0.651688513 7.65345251 0.2504766275 233.855493 -0.0263608
301920.248 -16518834041 -0.828909806 8.05899547 0.2417698642 268.633182 -0.0335294
301920.248 -15824282508 -1.00807609 8.41271689 0.2329675447 303.792554 -0.0407767
301920.248 -15271750704 -1.187476659 8.71708891 0.2241537149 338.997902 -0.0480334
301920.248 -14832834682 -1.365636581 8.97503489 0.2154008373 373.959787 -0.05524
301920.248 -14486231483 -1.541313687 9.18977506 0.2067699388 408.434447 -0.0623461
301920.248 -14215650609 -1.713487528 9.36469335 0.1983111533 442.221631 -0.0693106
301920.248 -14008421673 -1.881342792 9.50322683 0.1900645367 475.161342 -0.0761003
301920.248 -13854541737 -2.044249339 9.60877749 0.1820610471 507.129923 -0.0826899
301920.248 -13746008451 -2.201740627 9.68464476 0.1743236057 538.03582 -0.0890604

ω β
0.45
0.04
0.4
 ω β
0.45
0.04
0.4
0.02
0.35

0.3 0
0 20 40 60 80 100 120 140 160 180 2

Slip Angle (rad)

0.25
-0.02
0.2
-0.04
0.15

0.1 -0.06

0.05 -0.08
0
0 20 40 60 80 100 120 140 160 180 200 -0.1
Velocity (km/h) Velocity (km/h)
 k) l)
ω ρ Alat Ay
0.27021844 0.01080874 6.75546097 7.8125

Wheel Steer
2.31761428 Deg 0.70383 Rad 40.3264885 Deg
2.68025552 Deg 0.81395954 Rad 46.6364461 Deg
-0.7208783 Deg

-0.8336754 Deg

m)

Comments: All the paths shown have a biggest radius than the
path intended. This due to the slip angle being different than
zero and the driver making zero corrections.

Answers Moments

ω ρ Alat R Mβ Mω Mδ ΣM
0.03465528 0.0124759 0.09626466 80.15454 1121.17172 -13333.846 12212.674 0
0.06891196 0.01240415 0.38284423 80.6181601 1044.49125 -13257.165 12212.674 0
0.1023866 0.01228639 0.85322165 81.3908603 918.631736 -13131.306 12212.674 0
0.13472481 0.01212523 1.49694237 82.4726405 746.39053 -12959.065 12212.674 0
0.16561303 0.01192414 2.30018104 83.8635009 531.466894 -12744.141 12212.674 0
0.19478724 0.01168723 3.24645402 85.5634412 278.271378 -12490.945 12212.674 -1.7621E-12
0.22203834 0.01141911 4.31741226 87.5724617 -8.2863395 -12204.388 12212.674 1.8403E-12
0.24721419 0.01112464 5.49364859 89.8905622 -323.01346 -11889.661 12212.674 3.0695E-12
0.27021844 0.01080874 6.75546097 92.5177428 -660.63827 -11552.036 12212.674 0
0.29100694 0.01047625 8.08352621 95.4540034 -1015.9904 -11196.684 12212.674 0
0.30958215 0.01013178 9.4594547 98.6993442 -1384.1495 -10828.525 12212.674 0
0.32598637 0.00977959 10.8662122 102.253765 -1760.5574 -10452.117 12212.674 0
0.3402944 0.00942354 12.2884088 106.117266 -2141.0965 -10071.578 12212.674 0
0.35260625 0.00906702 13.7124651 110.289847 -2522.1331 -9690.5409 12212.674 0
0.36304016 0.00871296 15.1266734 114.771508 -2900.5347 -9312.1393 12212.674 0
0.3717264 0.00836384 16.5211734 119.562249 -3273.6629 -8939.0111 12212.674 0
0.37880185 0.00802169 17.887865 124.66207 -3639.3504 -8573.3237 12212.674 0
0.38440553 0.00768811 19.2202763 130.070971 -3995.8654 -8216.8086 12212.674 0
0.38867505 0.00736437 20.5134054 135.788952 -4341.8697 -7870.8043 12212.674 0
0.39174388 0.00705139 21.7635489 141.816014 -4676.3723 -7536.3017 12212.674 0

β Moments
15000
 β Moments
15000

10000

5000

Moments (Nm)
80 100 120 140 160 180 200
0
0 20 40 60 80 100 120 140 160 180 200

-5000

-10000

-15000

Velocity (km/h)

elocity (km/h) Mβ Mω Mδ
 n)

Yββ Yωω Yδδ Suma

5103.81849 + 567.5437768 + 8204.354556 = 13875.71682 =

r)
Yββ Yωω Yδδ Suma

5902.42208 + 656.3483645 + 9488.104556 = 16046.875 =

y) Vch 63.20071486 m/s 227.5225735 km/h

z) Vt 19.36800766 m/s 69.72482757 km/h
*Is noticeble that beta equals zero at Vt using the graphs below
 mVω

13875.71682

mVω

16046.875
 Car parameters
Value Units Source

Kerb Weight
+2
passengers 2054 Kg

Kerb Weight 1904 Kg

Wheelbase 3.236 m
Cf -202,827 N/rad
Cr -172,779 N/rad

% weight
distribution
(f/r) 1.17

Steer Wheel
ratio 17.4
Roundabout 80 m

Derivative Factors (Force) Derivative Factors (Moment)

Vel(km/h) Vel(m/s) Yβ Yω Yδ Nβ Nω
10 2.777778 -375,606 2.7583E-07 202,827 7.6619E-07 -351725.01
20 5.555556 -375,606 1.3791E-07 202,827 7.6619E-07 -175862.51
30 8.333333 -375,606 9.1942E-08 202,827 7.6619E-07 -117241.67
40 11.11111 -375,606 6.8957E-08 202,827 7.6619E-07 -87931.253
50 13.88889 -375,606 5.5165E-08 202,827 7.6619E-07 -70345.002
60 16.66667 -375,606 4.5971E-08 202,827 7.6619E-07 -58620.835
70 19.44444 -375,606 3.9404E-08 202,827 7.6619E-07 -50246.43
80 22.22222 -375,606 3.4478E-08 202,827 7.6619E-07 -43965.626
90 25 -375,606 3.0647E-08 202,827 7.6619E-07 -39080.557
100 27.77778 -375,606 2.7583E-08 202,827 7.6619E-07 -35172.501
110 30.55556 -375,606 2.5075E-08 202,827 7.6619E-07 -31975.001
120 33.33333 -375,606 2.2986E-08 202,827 7.6619E-07 -29310.418
130 36.11111 -375,606 2.1217E-08 202,827 7.6619E-07 -27055.77
140 38.88889 -375,606 1.9702E-08 202,827 7.6619E-07 -25123.215
150 41.66667 -375,606 1.8388E-08 202,827 7.6619E-07 -23448.334
160 44.44444 -375,606 1.7239E-08 202,827 7.6619E-07 -21982.813
170 47.22222 -375,606 1.6225E-08 202,827 7.6619E-07 -20689.707
180 50 -375,606 1.5324E-08 202,827 7.6619E-07 -19540.278
190 52.77778 -375,606 1.4517E-08 202,827 7.6619E-07 -18511.843
200 55.55556 -375,606 1.3791E-08 202,827 7.6619E-07 -17586.251
90 25 -375,606 3.0647E-08 202,827 7.6619E-07 -39080.557
90 25 -375,606 3.0647E-08 202,827 7.6619E-07 -39080.557

ρ
ω
0.0125
0.7

0.0125 0.6

0.0125 0.5

Yaw Velocity (rad/s)

Curvature (m-1)

0.4
0.0125

0.3
0.0125
0.2

0.0125
0.1

0.0125 0
0 20 40 60 80 100 120 140 160 180 200 0 20 40 60 80
Velocity (km/h) Veloci
 Steering Vel(km/h) Vel(m/s) β
δack 0.04045 0.04045 90 25 -0.0208797

a 1.48856 1.48856

b 1.74744 1.74744 Wheel

Df -0.053645996 -0.053645996 Int Angle 0.04045 Rad
Dr -0.053645996 -0.053645996 Cor Angle 0.04045 Rad
K 1.361272E-13 1.361411E-13 1st β -0.0208797 Rad

New β -0.0208797 Rad

1st Alat 7.8125 m/s2

New Alat 7.8125 m/s2
1st Radius 80 m
New Radius 80 m

e Factors (Moment) Gains Answ

Nδ Q β/δ ω/δ ρ/δ A/δ β

301920.248 -1.3211E+11 0.5269606846 0.85839857 0.3090234858 2.38444048 0.02131556
301920.248 -66054953582 0.4878427384 1.71679714 0.3090234858 9.53776191 0.01973324
301920.248 -44036635722 0.4226461614 2.57519571 0.3090234858 21.4599643 0.01709604
301920.248 -33027476791 0.3313709537 3.43359429 0.3090234858 38.1510476 0.01340396
301920.248 -26421981433 0.2140171151 4.29199286 0.3090234858 59.6110119 0.00865699
301920.248 -22018317861 0.0705846458 5.15039143 0.3090234858 85.8398572 0.00285515
301920.248 -18872843881 -0.098926454 6.00879 0.3090234858 116.837583 -0.0040016
301920.248 -16513738396 -0.294516185 6.86718857 0.3090234858 152.604191 -0.0119132
301920.248 -14678878574 -0.516184547 7.72558714 0.3090234858 193.139679 -0.0208797
301920.248 -13210990717 -0.76393154 8.58398572 0.3090234858 238.444048 -0.030901
301920.248 -12009991560 -1.037757163 9.44238429 0.3090234858 288.517298 -0.0419773
301920.248 -11009158930 -1.337661417 10.3007829 0.3090234858 343.359429 -0.0541084
301920.248 -10162300551 -1.663644302 11.1591814 0.3090234858 402.970441 -0.0672944
301920.248 -9436421940 -2.015705817 12.01758 0.3090234858 467.350333 -0.0815353
301920.248 -8807327144 -2.393845964 12.8759786 0.3090234858 536.499107 -0.0968311
301920.248 -8256869198 -2.798064741 13.7343771 0.3090234858 610.416762 -0.1131817
301920.248 -7771171010 -3.228362149 14.5927757 0.3090234858 689.103298 -0.1305872
301920.248 -7339439287 -3.684738188 15.4511743 0.3090234858 772.558714 -0.1490477
301920.248 -6953153009 -4.167192858 16.3095729 0.3090234858 860.783012 -0.168563
301920.248 -6605495358 -4.675726158 17.1679714 0.3090234858 953.776191 -0.1891331
301920.248 -14678878574 -0.516184547 7.72558714 0.3090234858 193.139679 -0.0208797
 301920.248 -14678878574 -0.516184547 7.72558714 0.3090234858 193.139679 -0.0208797

ω β
0.7
0.05

0.6
0
0.5 0 20 40 60 80 100 120 140 160 180 2

Slip Angle (rad)

0.4 -0.05

0.3
-0.1
0.2

0.1 -0.15

0
0 20 40 60 80 100 120 140 160 180 200 -0.2
Velocity (km/h) Velocity (km/h)
 ω ρ Alat Ay
0.3125 0.0125 7.8125 7.8125

Wheel Steer
2.31761428 Deg 0.70383 Rad 40.3264885 Deg
2.31761428 Deg 0.70383 Rad 40.3264885 Deg
-1.1963167 Deg

-1.1963167 Deg

Comments: All the paths shown have a biggest radius than the
path intended. This due to the slip angle being different than
zero and the driver making zero corrections.

Answers Moments

ω ρ Alat R Mβ Mω Mδ ΣM
0.03472222 0.0125 0.09645062 80 1.6332E-08 -12212.674 12212.674 0
0.06944444 0.0125 0.38580247 80 1.5119E-08 -12212.674 12212.674 -8.0215E-14
0.10416667 0.0125 0.86805556 80 1.3099E-08 -12212.674 12212.674 2.2632E-13
0.13888889 0.0125 1.54320988 80 1.027E-08 -12212.674 12212.674 -7.2139E-14
0.17361111 0.0125 2.41126543 80 6.6329E-09 -12212.674 12212.674 -9.7558E-13
0.20833333 0.0125 3.47222222 80 2.1876E-09 -12212.674 12212.674 1.154E-12
0.24305556 0.0125 4.72608025 80 -3.066E-09 -12212.674 12212.674 2.6786E-12
0.27777778 0.0125 6.17283951 80 -9.1277E-09 -12212.674 12212.674 1.7792E-12
0.3125 0.0125 7.8125 80 -1.5998E-08 -12212.674 12212.674 0
0.34722222 0.0125 9.64506173 80 -2.3676E-08 -12212.674 12212.674 0
0.38194444 0.0125 11.6705247 80 -3.2162E-08 -12212.674 12212.674 0
0.41666667 0.0125 13.8888889 80 -4.1457E-08 -12212.674 12212.674 0
0.45138889 0.0125 16.3001543 80 -5.156E-08 -12212.674 12212.674 0
0.48611111 0.0125 18.904321 80 -6.2471E-08 -12212.674 12212.674 0
0.52083333 0.0125 21.7013889 80 -7.4191E-08 -12212.674 12212.674 0
0.55555556 0.0125 24.691358 80 -8.6718E-08 -12212.674 12212.674 0
0.59027778 0.0125 27.8742284 80 -1.0005E-07 -12212.674 12212.674 0
0.625 0.0125 31.25 80 -1.142E-07 -12212.674 12212.674 0
0.65972222 0.0125 34.8186728 80 -1.2915E-07 -12212.674 12212.674 0
0.69444444 0.0125 38.5802469 80 -1.4491E-07 -12212.674 12212.674 0
0.3125 0.0125 7.8125 80 -1.5998E-08 -12212.674 12212.674 -3.2735E-08
 0.3125 0.0125 7.8125 80 -1.5998E-08 -12212.674 12212.674 0

β Moments
15000

10000

80 100 120 140 160 180 200

5000

Moments (Nm) 0
0 20 40 60 80 100 120 140 160 180 200

-5000

-10000

-15000

Velocity (km/h)

elocity (km/h) Mβ Mω Mδ
Vch N/A m/s N/A km/h
Vt 17.87586162 m/s 64.35310183 km/h
 Car parameters
Value Units Source

Kerb Weight
+2
passengers 2054 Kg

Kerb Weight 1904 Kg

Wheelbase 3.236 m
Cf -230,827 N/rad
Cr -172,779 N/rad

% weight
distribution
(f/r) 1.17

Steer Wheel
ratio 17.4
Roundabout 80 m

Derivative Factors (Force) Derivative Factors (Moment)

Vel(km/h) Vel(m/s) Yβ Yω Yδ Nβ Nω
10 2.777778 -403,606 -15004.685 230,827 -41679.68 -374060.39
20 5.555556 -403,606 -7502.3424 230,827 -41679.68 -187030.19
30 8.333333 -403,606 -5001.5616 230,827 -41679.68 -124686.8
40 11.11111 -403,606 -3751.1712 230,827 -41679.68 -93515.096
50 13.88889 -403,606 -3000.937 230,827 -41679.68 -74812.077
60 16.66667 -403,606 -2500.7808 230,827 -41679.68 -62343.398
70 19.44444 -403,606 -2143.5264 230,827 -41679.68 -53437.198
80 22.22222 -403,606 -1875.5856 230,827 -41679.68 -46757.548
90 25 -403,606 -1667.1872 230,827 -41679.68 -41562.265
100 27.77778 -403,606 -1500.4685 230,827 -41679.68 -37406.039
110 30.55556 -403,606 -1364.0623 230,827 -41679.68 -34005.49
120 33.33333 -403,606 -1250.3904 230,827 -41679.68 -31171.699
130 36.11111 -403,606 -1154.2065 230,827 -41679.68 -28773.876
140 38.88889 -403,606 -1071.7632 230,827 -41679.68 -26718.599
150 41.66667 -403,606 -1000.3123 230,827 -41679.68 -24937.359
160 44.44444 -403,606 -937.7928 230,827 -41679.68 -23378.774
170 47.22222 -403,606 -882.62852 230,827 -41679.68 -22003.552
180 50 -403,606 -833.5936 230,827 -41679.68 -20781.133
190 52.77778 -403,606 -789.72025 230,827 -41679.68 -19687.389
200 55.55556 -403,606 -750.23424 230,827 -41679.68 -18703.019
90 25 -403,606 -1667.1872 230,827 -41679.68 -41562.265
90 25 -403,606 -1667.1872 230,827 -41679.68 -41562.265

ρ
0.035
 ρ
ω
0.035
1.8

0.03 1.6

1.4
0.025
1.2

Yaw Velocity (rad/s)

Curvature (m-1)

0.02
1

0.015 0.8

0.6
0.01
0.4
0.005
0.2

0 0
0 20 40 60 80 100 120 140 160 180 200 0 20 40 60 80
Velocity (km/h) Veloci
 Steering Vel(km/h) Vel(m/s) β
δack 0.04045 0.04045 90 25 -0.0239478

a 1.48856 1.48856

b 1.74744 1.74744 Wheel

Df -0.047138579 -0.047138579 Int Angle 0.04045 Rad
Dr -0.053645996 -0.053645996 Cor Angle 0.03526762 Rad
K -0.006507417 -0.006507417 1st β -0.0239478 Rad

New β -0.0208797 Rad

1st Alat 8.96050448 m/s2

New Alat 7.8125 m/s2
1st Radius 69.7505371 m
New Radius 80 m

e Factors (Moment) Gains Answ

Nδ Q β/δ ω/δ ρ/δ A/δ β

343599.928 -1.5011E+11 0.5277955026 0.85975846 0.3095130448 2.38821794 0.02134933
343599.928 -74698138723 0.4909488881 1.72772818 0.3109910731 9.59848991 0.01985888
343599.928 -49402416266 0.4287495681 2.61238395 0.3134860745 21.7698663 0.01734292
343599.928 -36635652172 0.3399748034 3.52274552 0.3170470968 39.1416169 0.01375198
343599.928 -28880471424 0.2228283453 4.46869712 0.3217461928 62.0652378 0.00901341
343599.928 -23631082349 0.0748465157 5.4613698 0.3276821882 91.0228301 0.00302754
343599.928 -19813574229 -0.107237774 6.5136193 0.3349861356 126.653709 -0.0043378
343599.928 -16890991707 -0.327687778 7.64064549 0.3438290469 169.792122 -0.013255
343599.928 -14565026250 -0.592035065 8.86082025 0.3544328101 221.520506 -0.0239478
343599.928 -12656692739 -0.907466111 10.1968249 0.3670856961 283.245136 -0.036707
343599.928 -11052091551 -1.283378598 11.6772539 0.3821646743 356.804981 -0.0519127
343599.928 -9675289606 -1.732196645 13.3389371 0.4001681132 444.631237 -0.0700674
343599.928 -8473717849 -2.270593224 15.2303961 0.421764816 549.986527 -0.0918455
343599.928 -7409826952 -2.921374674 17.4171516 0.4478696133 677.333674 -0.1181696
343599.928 -6456080744 -3.716483433 19.9901588 0.4797638121 832.923285 -0.1503318
343599.928 -5591827096 -4.701974333 23.0797693 0.5192948101 1025.76753 -0.1901949
343599.928 -4801273204 -5.946660137 26.87997 0.5692228936 1269.33192 -0.2405424
343599.928 -4072135773 -7.558020968 31.6929707 0.6338594131 1584.64853 -0.3057219
343599.928 -3394717469 -9.713652793 38.0173257 0.7203282757 2006.46997 -0.3929173
343599.928 -2761260423 -12.72939949 46.7388293 0.8412989275 2596.60163 -0.5149042
343599.928 -14565026250 -0.592035065 8.86082025 0.3544328101 221.520506 -0.0208797
343599.928 -14565026250 -0.592035065 8.86082025 0.3544328101 221.520506 -0.0239478
 ω β
1.8
0.05
1.6 0
0 20 40 60 80 100 120 140 160 180 2
1.4 -0.05
1.2 -0.1

Slip Angle (rad)

1 -0.15

0.8 -0.2

0.6 -0.25

-0.3
0.4
-0.35
0.2
-0.4
0
0 20 40 60 80 100 120 140 160 180 200 -0.45
Velocity (km/h) Velocity (km/h)
 ω ρ Alat Ay
0.35842018 0.01433681 8.96050448 7.8125

Wheel Steer
2.31761428 Deg 0.70383 Rad 40.3264885 Deg
2.02068551 Deg 0.61365651 Rad 35.1599279 Deg
-1.3721089 Deg

-1.1963167 Deg

Comments: All the paths shown have a biggest radius than the
path intended. This due to the slip angle being different than
zero and the driver making zero corrections.

Answers Moments

ω ρ Alat R Mβ Mω Mδ ΣM
0.03477723 0.0125198 0.09660342 79.8734634 -889.83316 -13008.784 13898.6171 0
0.06988661 0.01257959 0.38825892 79.4938537 -827.71187 -13070.905 13898.6171 0
0.10567093 0.01268051 0.88059109 78.8611708 -722.84736 -13175.77 13898.6171 0
0.14249506 0.01282456 1.5832784 77.9754147 -573.17816 -13325.439 13898.6171 0
0.1807588 0.01301463 2.51053887 76.8365855 -375.6759 -13522.941 13898.6171 2.5011E-12
0.22091241 0.01325474 3.68187348 75.4446832 -126.18696 -13772.43 13898.6171 -5.258E-13
0.2634759 0.01355019 5.12314252 73.7997076 180.79678 -14079.414 13898.6171 0
0.30906411 0.01390788 6.86809133 71.9016589 552.462933 -14451.08 13898.6171 2.5011E-12
0.35842018 0.01433681 8.96050448 69.7505371 998.137407 -14896.754 13898.6171 0
0.41246157 0.01484862 11.4572657 67.3463421 1529.93619 -15428.553 13898.6171 0
0.47234492 0.01545856 14.4327615 64.6890739 2163.70324 -16062.32 13898.6171 0
0.53956001 0.0161868 17.9853335 61.7787326 2920.38491 -16819.002 13898.6171 0
0.61606952 0.01706039 22.246955 58.6153181 3828.09088 -17726.708 13898.6171 0
0.70452378 0.01811633 27.3981471 55.1988305 4925.27135 -18823.888 13898.6171 0
0.80860193 0.01940645 33.6917469 51.5292697 6265.77944 -20164.397 13898.6171 0
0.93357667 0.02100548 41.4922964 47.6066357 7927.26098 -21825.878 13898.6171 0
1.08729479 0.02302507 51.344476 43.4309286 10025.7304 -23924.347 13898.6171 0
1.28198066 0.02563961 64.0990331 39.0021484 12742.393 -26641.01 13898.6171 0
1.53780082 0.02913728 81.1617101 34.3202949 16376.6655 -30275.283 13898.6171 0
1.89058565 0.03403054 105.032536 29.3853683 21461.0427 -35359.66 13898.6171 0
0.3125 0.0125 7.8125 80 870.257753 -12988.208 13898.6171 1780.667
0.35842018 0.01433681 8.96050448 69.7505371 998.137407 -14896.754 13898.6171 0
 β Moments
20000

80 100 120 140 160 180 200 10000

Moments (Nm)
0 20 40 60 80 100 120 140 160 180 200

-10000

-20000

-30000

-40000

Velocity (km/h)

elocity (km/h) Mβ Mω Mδ
Vc 69.84485949 m/s 251.4414942 km/h
Vt 17.87586162 m/s 64.35310183 km/h
t) Cf Cr %WD (f/r) Nβ
Understeer -202827.06 -202827.06 1.1739130435 52507.8692
Neutral steer -202827.06 -172778.61 1.1739130435 0.00
Oversteer -230827.06 -172778.61 1.1739130435 -41679.68

ρ ω
0.04 2
0.035 1.8
1.6

Yaw velocity (rad/s)

0.03 1.4
Curvature (m-1)

0.025 1.2
0.02 1
v) 0.8
0.015 0.6
0.01 0.4
0.005 0.2
0 0
0 50 100 150 200 250 0 50 100 150

Velocity (km/h) Velocity (km/h)

Understeer Neutra l steer Oversteer Understeer Neutral steer

Moments compariti on
US Mβ US Mω US Mδ NS Mβ NS Mω
NS Mδ OS Mβ OS Mω OS Mδ

30000

20000

10000

0
0 50 100 150 200 250

-10000

-20000

-30000

-40000
-20000

-30000

-40000
 ω β
0.1
0
0 50 100 150 200 250
-0.1

Slip Angle (rad)

-0.2
-0.3
-0.4
-0.5
100 150 200 250
-0.6
Velocity (km/h)
Velocity (km/h)
eer Neutral steer Oversteer
Understeer Neutral steer Oversteer

Comments: An understeered vehicle tends to have smaller responses when the velocity
increases. This would mean an smoother travel. But also tends to have experiment higher
moment values than an neutralsteered vehicle. An oversteered vehicle wouldn't be
w) recommended almost anytime because of the high responses when the velocity increases.

From experience, it would be recommened to NOT have a large difference between the
cornering coefficient at the front and the rear. If it's needed to convert from a steering
category to another, it would be better to change the weight distribution.

Comments: An alternative forme to make this experiment would require to change another
parameter (depending of what is needed). An option would be to change the steering ratio
in the same proportion than the roundabout radius.
x)
Vel(km/h) Understeer Neutral steer Oversteer Understeer
10 0.021352451 0.02131556 0.021349328 0.034655277
20 0.01989209 0.019733239 0.019858883 0.068911962
30 0.017495125 0.017096037 0.01734292 0.102386598
40 0.014214832 0.013403955 0.013751981 0.134724813
50 0.010121662 0.008656992 0.009013407 0.165613035
60 0.005299613 0.002855149 0.003027542 0.194787241
70 -0.00015781 -0.00400158 -0.00433777 0.222038345
80 -0.00615172 -0.01191318 -0.01325497 0.247214187
90 -0.0125817 -0.02087966 -0.02394782 0.270218439
100 -0.0193493 -0.03090103 -0.036707 0.291006943
110 -0.0263608 -0.04197728 -0.05191266 0.309582154
120 -0.0335294 -0.0541084 -0.07006735 0.325986367
130 -0.04077668 -0.06729441 -0.0918455 0.340294398
140 -0.04803343 -0.0815353 -0.11816961 0.352606247
150 -0.05524 -0.09683107 -0.15033175 0.363040161
160 -0.06234614 -0.11318172 -0.19019486 0.371726401
170 -0.06931057 -0.13058725 -0.2405424 0.378801846
180 -0.07610032 -0.14904766 -0.30572195 0.384405525
190 -0.08268989 -0.16856295 -0.39291726 0.388675049
200 -0.08906041 -0.18913312 -0.51490421 0.391743881
Neutral steer Oversteer Understeer Neutral steer Oversteer US Mβ US Mω US Mδ
0.034722222 0.03477723 0.0124759 0.0125 0.012519803 1121.171724 -13333.8457 12212.67402
0.069444444 0.069886605 0.012404153 0.0125 0.012579589 1044.491247 -13257.1653 12212.67402
0.104166667 0.105670931 0.012286392 0.0125 0.012680512 918.6317363 -13131.3058 12212.67402
0.138888889 0.142495056 0.012125233 0.0125 0.012824555 746.39053 -12959.0645 12212.67402
0.173611111 0.180758799 0.011924139 0.0125 0.013014634 531.4668942 -12744.1409 12212.67402
0.208333333 0.220912409 0.011687234 0.0125 0.013254745 278.2713775 -12490.9454 12212.67402
0.243055556 0.263475901 0.011419115 0.0125 0.013550189 -8.28633946 -12204.3877 12212.67402
0.277777778 0.30906411 0.011124638 0.0125 0.013907885 -323.013455 -11889.6606 12212.67402
0.3125 0.358420179 0.010808738 0.0125 0.014336807 -660.638266 -11552.0358 12212.67402
0.347222222 0.412461567 0.01047625 0.0125 0.014848616 -1015.99044 -11196.6836 12212.67402
0.381944444 0.472344922 0.01013178 0.0125 0.015458561 -1384.14946 -10828.5246 12212.67402
0.416666667 0.539560006 0.009779591 0.0125 0.0161868 -1760.55743 -10452.1166 12212.67402
0.451388889 0.616069524 0.009423537 0.0125 0.017060387 -2141.09646 -10071.5776 12212.67402
0.486111111 0.704523783 0.009067018 0.0125 0.018116326 -2522.1331 -9690.54092 12212.67402
0.520833333 0.808601925 0.008712964 0.0125 0.019406446 -2900.53468 -9312.13934 12212.67402
0.555555556 0.93357667 0.008363844 0.0125 0.021005475 -3273.66289 -8939.01113 12212.67402
0.590277778 1.087294786 0.008021686 0.0125 0.023025066 -3639.35037 -8573.32365 12212.67402
0.625 1.281980663 0.007688111 0.0125 0.025639613 -3995.86543 -8216.80859 12212.67402
0.659722222 1.537800823 0.007364369 0.0125 0.029137279 -4341.8697 -7870.80431 12212.67402
0.694444444 1.890585645 0.00705139 0.0125 0.034030542 -4676.37227 -7536.30175 12212.67402
 NS Mβ NS Mω NS Mδ OS Mβ OS Mω OS Mδ
1.633171E-08 -12212.674 12212.67402 -889.833163 -13008.7839 13898.61707
1.511936E-08 -12212.674 12212.67402 -827.711869 -13070.9052 13898.61707
1.309877E-08 -12212.674 12212.67402 -722.847357 -13175.7697 13898.61707
1.026994E-08 -12212.674 12212.67402 -573.178159 -13325.4389 13898.61707
6.632879E-09 -12212.674 12212.67402 -375.675901 -13522.9412 13898.61707
2.187579E-09 -12212.674 12212.67402 -126.186963 -13772.4301 13898.61707
-3.06596E-09 -12212.674 12212.67402 180.79678 -14079.4139 13898.61707
-9.12773E-09 -12212.674 12212.67402 552.4629332 -14451.08 13898.61707
-0.000000016 -12212.674 12212.67402 998.1374068 -14896.7545 13898.61707
-2.3676E-08 -12212.674 12212.67402 1529.936189 -15428.5533 13898.61707
-3.21625E-08 -12212.674 12212.67402 2163.703236 -16062.3203 13898.61707
-4.14572E-08 -12212.674 12212.67402 2920.384905 -16819.002 13898.61707
-5.15601E-08 -12212.674 12212.67402 3828.090879 -17726.708 13898.61707
-6.24713E-08 -12212.674 12212.67402 4925.271345 -18823.8884 13898.61707
-7.41907E-08 -12212.674 12212.67402 6265.779437 -20164.3965 13898.61707
-8.67184E-08 -12212.674 12212.67402 7927.260976 -21825.878 13898.61707
-1.00054E-07 -12212.674 12212.67402 10025.73036 -23924.3474 13898.61707
-1.14198E-07 -12212.674 12212.67402 12742.39297 -26641.01 13898.61707
-1.29151E-07 -12212.674 12212.67402 16376.66547 -30275.2825 13898.61707
-1.44911E-07 -12212.674 12212.67402 21461.04267 -35359.6597 13898.61707