CHAPTER VI

VEHICLE PLANAR DYNAMICS

I. VEHICLE COORDINATE SYSTEM

II. APPLIED NEWTON – EULER METHOD
III. VEHICLE FORCE SYSTEM
IV. VEHICLE PLANAR DYNAMIC MODEL – 02-WHEELED MODEL
V. VEHICLE LINEAR PLANAR DYNAMIC MODEL – EXAMPLE (HB120)
I. VEHICLE COORDINATE SYSTEM

The vehicle force system (F, M)

Vehicle body coordinate frame B(Cxyz).

I. VEHICLE COORDINATE SYSTEM
Top view of a moving
vehicle to show the yaw
angle ψ between the x and
X axes, the sideslip angle β
between the velocity vector
v and the x-axis, and the
cruise angle β + ψ between
with the velocity vector v
and the X-axis.

Illustration of a moving vehicle,

indicated by its body coordinate frame
B in a global coordinate frame G
II. APPLIED NEWTON – EULER METHOD

A rigid vehicle in a planar motion

III. VEHICLE FORCE SYSTEM
The force system at
the tire-print of tire
number 1
IV. VEHICLE PLANAR DYNAMIC MODEL – 02-WHEELED MODEL

A front-wheel-steering four-wheel vehicle A two-wheel model for a

and the forces in the xy-plane acting at the vehicle moving with no roll
trire-prints
IV. VEHICLE PLANAR DYNAMIC MODEL – 02-WHEELED MODEL

Ignoring the aligning moments Mzi

assume δ small
IV. VEHICLE PLANAR DYNAMIC MODEL – 02-WHEELED MODEL

The global sideslip βi for the wheel i, is the angle between the wheel velocity
vector vi and the vehicle body x-axis

If the wheel number i has a steer angle δi then, its local sideslip angle αi, that
generates a lateral force Fyw on the tire, is
IV. VEHICLE PLANAR DYNAMIC MODEL – 02-WHEELED MODEL
Assuming small angles for global sideslips βf, β, and βr, the local sideslip angles for
the front and rear wheels, αf and αr, may be approximated as:
V. VEHICLE LINEAR PLANAR DYNAMIC MODEL
VI. VEHICLE LINEAR PLANAR DYNAMIC MODEL – EXAMPLE (HB120)
0.2 rad  11.459deg t  0
Symbol
Value
Unit
 (t )  
No-load Half-load Full-load 0 t0
h 1,63 1,723 1,815 m
l 6,150 6,150 6,150 m
a1 3,840 3,531 3,818 m
a2 2,310 2,619 2,332 m
m 13710 14910 16110 kg
Cαf 207730 238670 233010 N/rad
Cαr 278380 278380 292210 N/rad
Iz 173918 186975 202808 kg.m2

Turning
radius R vs
forward
velocity vx
(δ =
0.2(rad))

Lateral force Fy vs forward velocity vx

(δ = 0.2(rad)) Critical velocity, vxc vs
steering angle δ
VI. VEHICLE LINEAR PLANAR DYNAMIC MODEL – EXAMPLE (HB120)

Lateral velocity vy(t) Angular acceleration r(t)

Lateral force at the vehicle gravity

Turning radius R
center