Vehicle Dynamics

Digital Assignment - I
Group No. 10
Reg. No.: 19MCD00
40
19MCD00
41
19MCD00
42
19MCD00
02

Hyundai Grand i10

The new Hyundai Grand i10 was launched on August 20 in India with prices ranging from Rs
4.99 lakh to Rs7.99 lakh. The hatchback comes with redesigned exteriors and interiors along
with BS6-compliant engines. Coming to the interior, the hatchback gets features like
automatic climate control, 8-inch infotainment system with Apple CarPlay and Android Auto
connectivity, rear ac vents and wireless charging. The hatchback also comes with an Arkamys
sound system and a 5.0-inch digital cluster with MID.
Powering the new Grand i10 are the same 1.2-litre petrol and diesel engines, albeit BS6-
compliant. The 1.2-litre petrol engine makes 83PS and 114Nm, while the diesel makes 75PS
and 190Nm. Transmission options include a 5-speed MT and a 5-speed AMT. It rivals the
likes of the Maruti Suzuki Swift and the Ford Figo.

Technical Specifications of Hyundai Grand i10

ARAI Mileage 18 kmpl
Fuel Type Petrol/cng
Engine Displacement (cc) 1197 cc
Max Power (bhp@rpm) 65.39bhp@6000rpm
Max Torque (Nm@rpm) 98Nm@4000rpm
Seating Capacity 5
Transmission Type Manual
Boot Space (Litres) 246
Fuel Tank Capacity 60 Liters
Engine Type Kappa VTVT Petrol Engine
Gear Box 5 Speed
Drive Type FWD
Steering Gear Type Rack & Pinion
Turning Radius (Metres) 4.8 meters
Front Brake Type Disc
Rear Brake Type Drum
Specifications:
Determination of Centre of Gravity of Hyundai Grand i10:
 By use of Magic formula:
Yx = D sin (C arctan{B x – E[B x – arctan(B x)]})

Y(x) = Y(X) + Sv x

= X + Sh Where,

Y(X) cornering force, self-aligning torque or braking effort,

X Slip angle or skid
B stiffness factor
C shape factor
D peak factor
E Curvature factor
Sh , Sv horizontal shift and vertical shift.

Load
  (KN) B C D E Sh Sv
Fx 2 0.244 1.5 1936 -0.132 -0.28 -118
  4 0.239 1.19 3650 -0.678 -0.049 -156
  6 0.164 1.27 5237 -1.61 -0.126 -181
  8 0.112 1.36 6677 -2.16 0.125 -240
Fy 2 0.178 1.55 2193 0.432 0 25
  4 0.171 1.69 4236 0.619 0 70.6
  6 0.21 1.67 6090 0.686 0 80.1
  8 0.214 1.78 7711 0.783 0 104
Mz 2 0.247 2.56 -15.53 -3.92 -0.464 -12.5
  4 0.234 2.68 -48.56 -0.46 -0.082 -11.7
  6 0.164 2.46 -112.5 -2.04 -0.125 -6
  8 0.127 2.41 -191.3 -3.21 -0.009 -4.22
LOAD   F=2 kN
Slip SELF ALIGNING TORQUE
angle Skid CORNERING FORCE (N) BRAKE FORCE (N) (Nm)
(deg) (%) y(y) F(Y) y(x) F(X) y(z) M(z)
-100 -100 -1441.535 -1559.535 -1648.187 -1623.187 -11.745 -24.245
-95 -95 -1445.251 -1563.251 -1658.345 -1633.345 -11.733 -24.233
-90 -90 -1449.368 -1567.368 -1669.455 -1644.455 -11.719 -24.219
-85 -85 -1453.952 -1571.952 -1681.657 -1656.657 -11.703 -24.203
-80 -80 -1459.089 -1577.089 -1695.116 -1670.116 -11.685 -24.185
-75 -75 -1464.885 -1582.885 -1710.032 -1685.032 -11.665 -24.165
-70 -70 -1471.473 -1589.473 -1726.649 -1701.649 -11.642 -24.142
-65 -65 -1479.028 -1597.028 -1745.265 -1720.265 -11.615 -24.115
-60 -60 -1487.779 -1605.779 -1766.248 -1741.248 -11.583 -24.083
-55 -55 -1498.030 -1616.030 -1790.059 -1765.059 -11.544 -24.044
-50 -50 -1510.199 -1628.199 -1817.269 -1792.269 -11.497 -23.997
-45 -45 -1524.873 -1642.873 -1848.598 -1823.598 -11.438 -23.938
-40 -40 -1542.900 -1660.900 -1884.938 -1859.938 -11.362 -23.862
-35 -35 -1565.547 -1683.547 -1927.370 -1902.370 -11.261 -23.761
-30 -30 -1594.786 -1712.786 -1977.092 -1952.092 -11.120 -23.620
-25 -25 -1633.810 -1751.810 -2035.070 -2010.070 -10.910 -23.410
-20 -20 -1687.980 -1805.980 -2100.628 -2075.628 -10.567 -23.067
-15 -15 -1766.084 -1884.084 -2165.826 -2140.826 -9.913 -22.413
-10 -10 -1875.771 -1993.771 -2188.689 -2163.689 -8.269 -20.769
-5 -5 -1905.667 -2023.667 -1917.654 -1892.654 -0.798 -13.298
0 0 -197.788 -315.788 0.000 25.000 4.546 -7.954
5 5 1869.717 1751.717 1917.654 1942.654 -3.201 -15.701
10 10 1889.001 1771.001 2188.689 2213.689 7.671 -4.829
15 15 1776.806 1658.806 2165.826 2190.826 9.722 -2.778
20 20 1695.338 1577.338 2100.628 2125.628 10.478 -2.022
25 25 1638.996 1520.996 2035.070 2060.070 10.859 -1.641
30 30 1598.595 1480.595 1977.092 2002.092 11.087 -1.413
35 35 1568.449 1450.449 1927.370 1952.370 11.238 -1.262
40 40 1545.178 1427.178 1884.938 1909.938 11.345 -1.155
45 45 1526.706 1408.706 1848.598 1873.598 11.425 -1.075
50 50 1511.705 1393.705 1817.269 1842.269 11.487 -1.013
55 55 1499.288 1381.288 1790.059 1815.059 11.536 -0.964
60 60 1488.846 1370.846 1766.248 1791.248 11.576 -0.924
65 65 1479.944 1361.944 1745.265 1770.265 11.609 -0.891
70 70 1472.268 1354.268 1726.649 1751.649 11.637 -0.863
75 75 1465.580 1347.580 1710.032 1735.032 11.661 -0.839
80 80 1459.703 1341.703 1695.116 1720.116 11.682 -0.818
85 85 1454.498 1336.498 1681.657 1706.657 11.700 -0.800
90 90 1449.856 1331.856 1669.455 1694.455 11.716 -0.784
 95 95 1445.691 1327.691 1658.345 1683.345 11.730 -0.770
100 100 1441.933 1323.933 1648.187 1673.187 11.743 -0.757

LOAD   F=4 kN
Slip SELF ALIGNING TORQUE
angle Skid CORNERING FORCE (N) BRAKE FORCE (N) (Nm)
(deg) (%) y(y) F(Y) y(x) F(X) y(z) M(z)
-100 -100 -3519.691 -3675.691 -2768.892 -2698.292 -40.548 -52.248
-95 -95 -3521.275 -3677.275 -2801.570 -2730.970 -40.433 -52.133
-90 -90 -3523.029 -3679.029 -2837.022 -2766.422 -40.304 -52.004
-85 -85 -3524.981 -3680.981 -2875.607 -2805.007 -40.158 -51.858
-80 -80 -3527.166 -3683.166 -2917.746 -2847.146 -39.992 -51.692
-75 -75 -3529.628 -3685.628 -2963.934 -2893.334 -39.802 -51.502
-70 -70 -3532.424 -3688.424 -3014.757 -2944.157 -39.582 -51.282
-65 -65 -3535.624 -3691.624 -3070.914 -3000.314 -39.324 -51.024
-60 -60 -3539.323 -3695.323 -3133.237 -3062.637 -39.018 -50.718
-55 -55 -3543.643 -3699.643 -3202.719 -3132.119 -38.649 -50.349
-50 -50 -3548.753 -3704.753 -3280.544 -3209.944 -38.195 -49.895
-45 -45 -3554.883 -3710.883 -3368.112 -3297.512 -37.624 -49.324
-40 -40 -3562.355 -3718.355 -3467.042 -3396.442 -36.886 -48.586
-35 -35 -3571.635 -3727.635 -3579.111 -3508.511 -35.899 -47.599
-30 -30 -3583.390 -3739.390 -3705.999 -3635.399 -34.513 -46.213
-25 -25 -3598.549 -3754.549 -3848.494 -3777.894 -32.445 -44.145
-20 -20 -3618.109 -3774.109 -4003.924 -3933.324 -29.075 -40.775
-15 -15 -3640.958 -3796.958 -4156.840 -4086.240 -22.820 -34.520
-10 -10 -3643.742 -3799.742 -4234.500 -4163.900 -8.694 -20.394
-5 -5 -3320.563 -3476.563 -3779.300 -3708.700 29.564 17.864
0 0 -50.864 -206.864 0.000 70.600 2.496 -9.204
5 5 3300.559 3144.559 3779.300 3849.900 -31.374 -43.074
10 10 3642.886 3486.886 4234.500 4305.100 7.958 -3.742
15 15 3641.379 3485.379 4156.840 4227.440 22.528 10.828
20 20 3618.539 3462.539 4003.924 4074.524 28.929 17.229
25 25 3598.887 3442.887 3848.494 3919.094 32.360 20.660
30 30 3583.651 3427.651 3705.999 3776.599 34.458 22.758
35 35 3571.839 3415.839 3579.111 3649.711 35.861 24.161
40 40 3562.518 3406.518 3467.042 3537.642 36.859 25.159
45 45 3555.015 3399.015 3368.112 3438.712 37.603 25.903
50 50 3548.863 3392.863 3280.544 3351.144 38.178 26.478
55 55 3543.735 3387.735 3202.719 3273.319 38.635 26.935
60 60 3539.401 3383.401 3133.237 3203.837 39.007 27.307
 65 65 3535.691 3379.691 3070.914 3141.514 39.315 27.615
70 70 3532.482 3376.482 3014.757 3085.357 39.574 27.874
75 75 3529.679 3373.679 2963.934 3034.534 39.796 28.096
80 80 3527.211 3371.211 2917.746 2988.346 39.987 28.287
85 85 3525.021 3369.021 2875.607 2946.207 40.153 28.453
90 90 3523.065 3367.065 2837.022 2907.622 40.299 28.599
95 95 3521.308 3365.308 2801.570 2872.170 40.429 28.729
100 100 3519.721 3363.721 2768.892 2839.492 40.544 28.844

LOAD   F=6 Kn
Slip SELF ALIGNING TORQUE
angle Skid CORNERING FORCE (N) BRAKE FORCE (N) (Nm)
(deg) (%) y(y) F(Y) y(x) F(X) y(z) M(z)
-100 -100 -4838.342 -5019.342 -4087.235 -4007.135 -69.866 -75.866
-95 -95 -4841.843 -5022.843 -4131.015 -4050.915 -69.606 -75.606
-90 -90 -4845.738 -5026.738 -4178.454 -4098.354 -69.315 -75.315
-85 -85 -4850.098 -5031.098 -4230.019 -4149.919 -68.986 -74.986
-80 -80 -4855.011 -5036.011 -4286.253 -4206.153 -68.612 -74.612
-75 -75 -4860.587 -5041.587 -4347.797 -4267.697 -68.182 -74.182
-70 -70 -4866.971 -5047.971 -4415.409 -4335.309 -67.685 -73.685
-65 -65 -4874.348 -5055.348 -4489.984 -4409.884 -67.101 -73.101
-60 -60 -4882.967 -5063.967 -4572.590 -4492.490 -66.408 -72.408
-55 -55 -4893.166 -5074.166 -4664.499 -4584.399 -65.570 -71.570
-50 -50 -4905.413 -5086.413 -4767.226 -4687.126 -64.539 -70.539
-45 -45 -4920.377 -5101.377 -4882.564 -4802.464 -63.239 -69.239
-40 -40 -4939.042 -5120.042 -5012.601 -4932.501 -61.553 -67.553
-35 -35 -4962.902 -5143.902 -5159.671 -5079.571 -59.281 -65.281
-30 -30 -4994.302 -5175.302 -5326.124 -5246.024 -56.069 -62.069
-25 -25 -5036.998 -5217.998 -5513.576 -5433.476 -51.211 -57.211
-20 -20 -5096.719 -5277.719 -5720.514 -5640.414 -43.127 -49.127
-15 -15 -5178.123 -5359.123 -5933.707 -5853.607 -27.603 -33.603
-10 -10 -5234.682 -5415.682 -6086.386 -6006.286 9.171 3.171
-5 -5 -4515.336 -4696.336 -5698.021 -5617.921 98.160 92.160
0 0 -137.432 -318.432 0.000 80.100 5.672 -0.328
5 5 4400.627 4219.627 5698.021 5778.121 -102.414 -108.414
10 10 5231.899 5050.899 6086.386 6166.486 -12.160 -18.160
15 15 5182.615 5001.615 5933.707 6013.807 26.465 20.465
20 20 5100.301 4919.301 5720.514 5800.614 42.583 36.583
25 25 5039.544 4858.544 5513.576 5593.676 50.903 44.903
30 30 4996.145 4815.145 5326.124 5406.224 55.873 49.873
35 35 4964.280 4783.280 5159.671 5239.771 59.147 53.147
40 40 4940.105 4759.105 5012.601 5092.701 61.455 55.455
45 45 4921.220 4740.220 4882.564 4962.664 63.165 57.165
 50 50 4906.096 4725.096 4767.226 4847.326 64.481 58.481
55 55 4893.730 4712.730 4664.499 4744.599 65.524 59.524
60 60 4883.440 4702.440 4572.590 4652.690 66.370 60.370
65 65 4874.750 4693.750 4489.984 4570.084 67.070 61.070
70 70 4867.317 4686.317 4415.409 4495.509 67.658 61.658
75 75 4860.888 4679.888 4347.797 4427.897 68.159 62.159
80 80 4855.275 4674.275 4286.253 4366.353 68.592 62.592
85 85 4850.332 4669.332 4230.019 4310.119 68.968 62.968
90 90 4845.946 4664.946 4178.454 4258.554 69.299 63.299
95 95 4842.029 4661.029 4131.015 4211.115 69.592 63.592
100 100 4838.510 4657.510 4087.235 4167.335 69.853 63.853

CORNERING FORCE (Fy) vs SLIP

7000.000

5000.000

3000.000
CORNERING FORCE (N)

1000.000

-100 -75 -50 -25-1000.000 0 25 50 75 100

-3000.000 2
kN
-5000.000 4
kN
-7000.000
SLIP (%)
 BRAKE8000.000
FORCE (Fx) vs SKID
6000.000

4000.000
BRAKE FORCE (kN)

2000.000

0.000
-100 -75 -50 -25 0 25 50 75 100
-2000.000

-4000.000
2
k
-6000.000 N

-8000.000
SKID (%)

SELF ALIGNING TORQUE (Mz) vs SLIP

200.000

100.000
SELF ALIGNINGTORQUE (Nm)

0.000
-20 -15 -10 -5 0 5 10 15 20
2
kN
-100.000
4
kN

-200.000
SLIP (%)
 Longitudinal Dynamics calculations for Hyundai Grand i10
Assignment -2

Braking Characteristics of a Two-Axle Vehicle

The major external forces acting on a decelerating two-axle vehicle are shown in figure
The braking force F b, originating from the brake system and developed on the tire-road
interface is the primary retarding force. When the braking force is below the limit of tire-road
adhesion, the braking force F b, is given by

where T b, is the applied brake torque, I is the rotating inertia connected with the wheel being
decelerated, α an, is the corresponding angular deceleration, and r is the rolling radius of the
tire.
Let assume the initial velocity of the vehicle to be 90 kmph rolling on an asphalt surface
(µ=0.8) which needs to be brought at rest.
H=631.8mm
L1=846.8mm
L2=1578.21mm
1) Rolling resistance
coefficient

fr = 0.0136 + 0.40
* 10-7 * (V2)
fr = 0.0136 + 0.40
* 10-7 * (1002)
fr = 0.0145

2) Proportion of
total braking force
on the front and rear

K bf l2+h ( µ+ fr )
=
K br l1−h ( µ+ fr )

As Kbf + Kbr = 1
K bf l2+h ( µ+ fr )
Therefore, =
1−K bf l1−h ( µ+ fr )

K bf 1578.21+ 631.81 ( 0.8+0.01392 )

=
1−K bf 846.78−631.81 ( 0.8+0.01392 )
 K bf
= 6.3
1−K bf
Kbf = .8630
and thus Kbr = 0.1369

3) Vehicle deceleration rate (in g-units)

a. For Front wheels

µ∗l 2
+ ( K bf ∗f r )
a L
g
= µ∗h
K bf −
L
0.8∗1578.21
+ ( 0.6058∗0.0145 )
a 2425
g
= 0.8∗631.81
0.8630−
2425
a
g
= 0.8128

b. For Rear wheels

µ l1
+ ( 1−K bf )∗f r
a L
=
g µh
1− K bf +
L
0.8∗846.78
+ ( 1−0.6058 )∗0.0145
a 2425
=
g 0.8∗631.81
1−0.8630+
2425
a
= 0.8143
g

4) During braking, there is a load transfer from the rear axle to the front axle the normal
loads on the front and rear axles, Wf and Wr, can be expressed as

a. Load on front axle

W a
Wf = (l2 + * h)
L g
 1500∗9.81
Wf = (1578.21 + 0.8128 * 631.81)
2425
Wf = 12694.14 N

b. Load on rear axle

W a
Wr = (l1 - * h)
L g
1500∗9.81
Wr = (846.78 – 0.8143 * 631.81)
2425
Wr = 2016.39 N

5) The braking forces of

the front and rear
axles

a. For front axle

a
F bf = K bf * W ( – fr)
g
F bf = 0.8630 * 1500 *9.81(0.8128 – 0.0145)

Fbf = 10137.64 N

b. For rear axle

a
F br= (1 – K bf ) * W * ( – f r)
g
Fbr = (1 – 0.8630) * 1500*9.81 * (0.8143 – 0.0145)
Fbr = 1612.360 N

6) Stopping distance
 Where

Af = 1.6 + 0.00056 * (mv - 765) = 1.6 + 0.00056 * (1500 -765) = 2.0116

ƿ 1.225
Cae = * Cd * A f = * 0.307 * 2.0116 = 0.3782
2 2
a 0.8128
ɳb = = = 1.016
g∗µ 0.8
θs = 150

therefore,

14715
S = ln (1 +
2∗9.81∗0.3782
0.3782∗27.77 2
)
( 1.016∗0.8∗14715 ) + ( 0.0145∗14715∗cos 15 ) + ( 14715∗sin 15 )

S = 34.60 m

Data for Hyundai Grand i10

Coefficient of Road Adhesion μ 0.8
CG Behind Front Axle l1 846.78 mm
CG Before Rear Axle l2 1578.21 mm
CG Height h 631.8 mm
Wheelbase L 2425 mm
Roll Resistance fr 0.0145
Weight of Vehicle w 14715 N
Frontal Area Af 2.0116 m2
Density of Air ρ 1.225 Kg/m3
Coefficient of Drag Cd 0.307

On Zero Gradient

Cae = (ρ/2) *Cd*Af Speed CaeV2 Smax

Cae = 0.3782 0 0 0
W/(2*g*Cae) =
1983.077 10 37.82 6.1512
µW = 11772 15 85.095 13.8135
FrWcosθ = 213.3675 20 151.28 24.4913
Wsinθ = 0 25 236.375 38.13600
30 340.38 54.6862
40 605.12 96.2013

Constant
Up the Grade 10
A. Gradient Up

Cae = (ρ/2)*Cd*Af Speed CaeV2 Smax

Cae = 0.3782 0 0 0
W/(2*g*Cae) =
1983.077 10 43.8 5.0866
µW = 11772 15 98.55 11.4265
FrWcosθ = 210.12 20 175.2 20.2686
Wsinθ = 2555.23 25 273.75 31.5793
30 394.2 45.3164
40 605.12 79.8603
 Constant
Down the Grade 10
Gradient Down

Cae = (ρ/2) *Cd*Af Speed CaeV2 Smax

Cae = 0.3782 0 0 0
W/(2*g*Cae) =
1983.077 10 43.8 7.7848
µW = 11772 15 98.55 17.4730
FrWcosθ = 210.12 20 175.2 30.9575
Wsinθ = 2555.23 25 273.75 48.1611
30 394.2 68.9870
40 605.12 121.032

140

120

100

80

60

40

20

0
0 5 10 15 20 25 30 35 40 45

Constant Grade 10 Up Constant Grade 10 Down

 Constant
Up the Grade 20
B. Gradient Up

Cae = (ρ/2) *Cd*Af Speed CaeV2 Smax

Cae = 0.3782 0 0 0
W/(2*g*Cae) =
1983.077 10 43.8 4.3572
µW = 11772 15 98.55 9.79045
FrWcosθ = 200.49 20 175.2 17.3719
Wsinθ = 5032.82 25 273.75 27.077
30 394.2 38.8750
40 605.12 68.5930

Constant
Down the Grade 20
Gradient Down

Cae = (ρ/2) *Cd*Af Speed CaeV2 Smax

Cae = 0.3782 0 0 0
W/(2*g*Cae) =
1983.077 10 43.8 10.4940
µW = 11772 15 98.55 23.5339
FrWcosθ = 200.49 20 175.2 41.6470
Wsinθ = 5032.82 25 273.75 64.6947
30 394.2 92.505
40 605.12 161.58
180

160

140

120

100

80

60

40

20

0
0 5 10 15 20 25 30 35 40 45

Constant Grade 20 Up Constant Grade 20 Down

C. Up the Constant
Gradient Grade 30
 Up

Cae = (ρ/2) *Cd*Af Speed CaeV2 Smax

Cae = 0.3782 0 0 0
W/(2*g*Cae) =
1983.077 10 43.8 3.8419
µW = 11772 15 98.55 8.63368
FrWcosθ = 184.78 20 175.2 15.3231
Wsinθ = 7357.5 25 273.75 23.8907
30 394.2 34.3121
40 605.12 60.5948

Constant
Down the Grade 30
Gradient Down

Cae = (ρ/2) *Cd*Af Speed CaeV2 Smax

Cae = 0.3782 0 0 0
W/(2*g*Cae) =
1983.77 10 43.8 15.6038
µW = 11772 15 98.55 34.9374
FrWcosθ = 184.78 20 175.2 61.6918
Wsinθ = 7357.5 25 273.75 95.5682
30 394.2 136.2019
40 605.12 236.025
250

200

150

100

50

0
0 5 10 15 20 25 30 35 40 45

Constant Grade 30 Up Constant Grade 30 Down

Vehicle Dynamics Digital Assignment - 03

Reg. 19MCD00 Group – 10
No.: 02
19MCD00
40
19MCD00
41
19MCD00
42

LATERAL DYNAMICS
Hyundai Grand i10

Vehicle Specifications

ARAI Mileage 18 kmpl

Fuel Type Petrol/cng
Engine Displacement (cc) 1197 cc
Max Power (bhp@rpm) 65.39bhp@6000rpm
Max Torque (Nm@rpm) 98Nm@4000rpm
Seating Capacity 5
Transmission Type Manual
Boot Space (Litres) 246
Fuel Tank Capacity 60 Liters
Engine Type Kappa VTVT Petrol Engine
Gear Box 5 Speed
Drive Type FWD
Steering Gear Type Rack & Pinion
Turning Radius (Metres) 4.8 meters
Front Brake Type Disc
Rear Brake Type Drum
For lateral dynamics calculations

Steady-state handling behaviour of the vehicle assuming bicycle model

Wf Wr
K us= - (1)
C αf Cαr

Equation 1 is the fundamental equation governing the steady-state handling behaviour of a

road vehicle.

Case 1: Trunk of the car is empty

Front CG Rear

85.5 cm 157 cm

Weight of the vehicle = 1000 kg (9810N)

Wheelbase = 2425mm
Weight distribution considered for calculating CG = 65:35
Cornering stiffness of each of the front tires = 38.92 kN/rad
Cornering stiffness of each of the rear tires = 38.25 kN/rad (Assumption)
(Since cornering stiffness of a given tire varies with many operational parameters, including
inflation pressure, normal load, tractive (or braking) effort, and lateral force. Hence, it is
regarded as a constant only within a limited range of operating conditions)

6351.21 3458.78
K us= -
2∗38.92∗1000 2∗38.25∗1000

K us=0.08159−0.04521

K us=0.03638032 rad (understeer )

Case 2: Trunk of the car is filled

The new weight of the vehicle = 1376 kg (13498.56N)

Front CG Rear

133.5 cm 109 cm

1376∗9.81∗1.09
W f= =6067.339 N
2.425
1376∗9.81∗1.335
W r= =7431.16 N
2.425

6067.339 7431.16
K us= -
2∗38.92∗1000 2∗38.25∗1000

K us=0.07794−0.0971 .39
K us=−0.01919rad ( oversteer )

On substituting,
Critical speed = 126.72 Km/h
 Table 1 Excel Calculation

Understeer Condition ( K us = 0.03638032rad)

Steer angle vs Speed (Understeer effect)

0.35

0.3

0.25
Steer angle (rad)

0.2

0.15

0.1

0.05

0
0 20 40 60 80 100 120 140 160

Speed (km/h)

On substituting,
Characteristic speed = 110 km/h

Neutral steer condition ¿ =0)

Vehicle
forward
speed Steer angle
(km/h) (rad)
0 0.08
10 0.08
20 0.08
30 0.08
40 0.08
50 0.08
60 0.08
70 0.08
80 0.08
90 0.08
 100 0.08
110 0.08
120 0.08

Steer angle vs Speed (Neutral steer effect)

0.12

0.11

0.1
Steer angle (rad)

0.09

0.08

0.07

0.06

0.05

0.04
0 20 40 60 80 100 120 140

Speed (km/h)

Over steer Condition ( K us = −0.01919 rad)

 Steer angle vs Speed (Oversteer effect)
0.09

0.08

0.07

0.06
Steer angle (rad)

0.05

0.04

0.03

0.02

0.01

0
0 20 40 60 80 100 120 140

Speed (km/h)

Relationships between steer angle and speed of neutral steer,

understeer, and over steer vehicles.
 Steer angle Vs Speed
0.35

0.3

0.25
Steer angle (rad)

0.2

0.15

0.1

0.05

0
0 20 40 60 80 100 120 140 160

Speed (km/h)

Neutral steer Understeer Oversteer

Steady state response of the car by assuming bicycle model

1. Lateral acceleration gain
 Lateral acceleration response (rad^-1)
Vehicle
forward
speed
(km/h) Understeer Neutral Oversteer
0 0 0 0
10 0.320226194 0.324484066 0.326382211
20 1.233840473 1.297936265 1.330533318
30 2.615944899 2.920356596 3.092413693
40 4.302948683 5.191745059 5.763695852
50 6.13386592 8.112101655 9.603346991
60 7.977843945 11.68142638 15.04931532
70 9.744120501 15.89971924 22.86913735
80 11.37927236 20.76698024 34.5063748
90 12.85865191 26.28320936 52.9949421
100 14.17701345 32.44840662 85.92692082
110 15.3407394 39.26257201  
120 16.36228051 46.72570553  
130 17.25656293 54.83780718  
140 18.03885703 63.59887697  
150 18.7236261 73.00891489  

Relationship between understeer, Neutral steer and Oversteer in terms of

Lateral acceleration gain vs speed
 Lateral acceleration gain Vs Speed

Lateral acceleration gain

100

80

60

40

20

0
0 20 40 60 80 100 120 140 160

Speed (km/h)

Lateral acceleration response (rad^-1) Understeer

Lateral acceleration response (rad^-1) Neutral
Lateral acceleration response (rad^-1) Oversteer

2. Yaw velocity gain

Vehicle forward Lateral acceleration response (rad^-1)

speed (km/h) Understeer Neutral Oversteer
10 0 0 0
20 1.132116433 1.145475372 1.15265094
30 2.187691955 2.290950745 2.349454739
40 3.106515079 3.436426117 3.640387809
50 3.854225601 4.581901489 5.088764737
60 4.422687473 5.727376861 6.783032734
70 4.823734979 6.872852234 8.858022291
80 5.080683878 8.018327606 11.53779965
90 5.22095106 9.163802978 15.23282871
100 5.271137918 10.30927835 20.79519798
110 5.25448163 11.45475372 30.34591821
120 5.189986199 12.6002291 51.06643686
130 5.092518939 13.74570447 132.73103
140 4.973350412 14.89117984  
150 4.840824837 16.03665521  

Relationship between understeer, Neutral steer and Oversteer in terms of

Yaw velocity gain vs speed
 Yaw velocity gain Vs Speed
140

120
Yaw velocity gain

100

80

60

40

20

0
0 20 40 60 80 100 120 140 160

Speed (km/h)

Lateral acceleration response (rad^-1) Understeer Lateral acceleration response (rad^-1) Neutral
Lateral acceleration response (rad^-1) Oversteer

3. Curvature response

Vehicle Lateral acceleration response (rad^-1)

forward Understee
speed (km/h) r Neutral Oversteer
0 0.412371 0.412371134 0.412371134
10 0.407562 0.412371134 0.414954338
20 0.393785 0.412371134 0.422901853
30 0.372782 0.412371134 0.436846537
40 0.34688 0.412371134 0.457988826
50 0.318433 0.412371134 0.488378357
60 0.289424 0.412371134 0.531481337
70 0.261292 0.412371134 0.593372553
80 0.234943 0.412371134 0.685477292
90 0.210846 0.412371134 0.831807919
100 0.189161 0.412371134 1.092453055
110 0.169854 0.412371134 1.671265206
120 0.152776 0.412371134 3.9819309
130 0.137724 0.412371134  
140 0.124478 0.412371134  
150 0.112824 0.412371134  
Relationship between understeer, Neutral steer and Oversteer in terms of
Curvature response vs speed

Curvature response Vs Speed

1.79
Curvature response

1.29

0.79

0.29

0 20 40 60 80 100 120 140 160

-0.21

Speed (km/h)

Lateral acceleration response (rad^-1) Understeer

Lateral acceleration response (rad^-1) Neutral
Lateral acceleration response (rad^-1) Oversteer

Four Parameter Evaluation Method of Lateral Transient Response

Mimuro plot
The following four parameters:
a1 - steady state gain of yaw velocity response,
fn - natural frequency of yaw velocity response,
ξ - Damping of yaw velocity response,
φ - Phase delay at 1Hz of lateral acceleration response.
u= (5/18).*[100]; %%forward velocity of the car
l= 2.425; %%wheelbase
a=0.855; %%distance from front axle to CG
b=1.57; %%distance from rear axle to CG
m=1000; %%kerbweight of the car
W=1000*9.81;
Wf= 0.65*W; Wr=0.35*W;
Iz=1128;
CalphaF=2*38920; %%Cornering stiffness
CalphaR=2*38250; %%Cornering stiffness
K= ((6351.21)/(2*38920)-(3458.78)/(2*38250)); %% Stability factor
b1= rdivide(u,(l+ (K*l.*u.*u))); %% steay state gain of yaw velocity response(b1)
I1=(CalphaF) * (CalphaR) * (1+(K.*u.*u));
I2= Iz*m;
s= rdivide(I1,I2).^0.5;
b4= rdivide((2.4*s),3.14.*u); %% frequency in Hz (b4)
a2=(Iz+ m*a*a)*CalphaF;
a3=(Iz+ m*b*b)*CalphaR;
a4=a2+a3;
a5= (Iz*m*CalphaF*CalphaR*(1+ K.*u.*u)).^0.5;
b5= rdivide(a4,(a5*2*l)); %% Damping of yaw velocity response(b5)
a6=a*l*CalphaR;
a7= ((l*CalphaR.*u)/(2*3.14) - (3.14*Iz.*u));
a8=rdivide((2.*b5.*b4),(b4.*b4 -1));
a9=rdivide(a6,a7);
b2=[0];
b3=atan(a9)-atan(a8); %% phase delay at 1Hz of lateral acceleration response (b3)
plot([-b1 b2 b3 b2 -b1], [ b2 b4 b2 -b5 b2]);

Phase delay=0.2257 Frequency= 27.885 Steady state gain=0.57275 Damping ratio=0.22904

Published with MATLAB® R2019a