Vehicle Dynamics

1 Introduction

1.1 Characteristics

1.2 Problems

1.3 Motor-Vehicle Systems Requirements



2 Longitudinal Dynamics

2.1 Tires

2.2 Total Running Resistances

2.3 Motor-Vehicle Drives

2.4 Drivetrain

2.5 Brakes



3 Vertical Dynamics

3.1 Spring- and Damper Components

3.2 Excitation provided by the Roadway Surface

3.3 Quarter-Car Model

3.4 Single-Track Suspension Model

3.5 Double-Track Suspension Model



4 Tires

4.1 Requirements

4.2 Construction Methods of Tires

4.3 Tires under Vertical Forces

4.4 Tires under Tangential Forces

4.5 Tires under Lateral Forces

4.6 Superposition of Tangential- and Lateral Forces



5 Single-Track Model

5.1 Estimates and Steering Kinematics

5.2 Equation of Motions (EQM)

5.3 Steady-State Steering Behaviour and Steady-State Skidpad Testing

5.4 Unsteady Steering Behaviour

5.5 Nonlinear Single-Track Model



6 Wheel Suspensions

6.1 Basic Kinematics

6.2 Characteristics of Longitudinal Dynamics

6.3 Characteristics of Lateral Dynamics

6.4 Steering



7 4-Wheel Vehicle Model

7.1 Equation of Motions

7.2 Steady-State Skidpad Testing

7.3 Longitudinal- and Lateral Dynamics



8 Kinematics and Dynamics of Multibody Systems

8.1 Fundamental Methods of Kinematics

8.2 Equations of Motion of Multibody Systems

8.3 Dealing with Kinematical Loops

8.4 Computer-Aided Design of Equations of Motion



9 Modelling of Vehicle Components

9.1 Chassis

9.2 Wheel Suspensions

9.3 Tires

9.4 Drive Train



10 Modelling and Simulation of Motor Vehicles

10.1 Modelling of an Overall Vehicle

10.2 Simulations of Motor Vehicles - FASIM C++

10.3 Integration in a Commercial Simulation Environment

10.4 Example: Vehicle Model in Mat lab/Simulink

10.5 Driver Model

10.6 Simulation of Motor Vehicles in Borderline Situations

10.7 Calculation of Avoidance Trajectories



11 Vehicle Systems

11.1 Vehicle-Dynamics Control Systems

11.2 Driving Comfort

11.3 Restraint Systems

11.4 Future Development



12 Literature

Prof. Dr.-Ing. Dieter Schramm is the head of the Chair of Mechatronics since 2004 and the dean of the Faculty of Engineering at the University of Duisburg-Essen since 2006. Before that time and after he got his Phd in Engineering from the University of Stuttgart he worked over a period of more than 18 years in various positions in the Automotive Industry. Starting as section manager at the Robert Bosch Company he held later positions as head of department and from 1999 as director of engineering and marketing for various product segments and as well as being the CEO of an affiliated company of Tyco Electronics Ltd. His main scientific focus in automotive is on vehicle dynamics and safety, driver assistance systems, electro mobility and driving simulators.Prof. Dr.-Ing. habil. Dr. H.C. Mult. M. Hiller has been head of the first Chair of Mechatronics in Germany from 1991 to 2004 at the University of Duisburg (today University of Duisburg-Essen). During his time in Duisburg (from 1987) and before that during his time at the University of Stuttgart he has been dealing with modeling and simulation of road vehicles over more than three decades. As a consequence, close collaborations with major car manufacturers and car suppliers in Germany have been established. In particular, detailed multi-body system based simulation models have been designed, thus providing a major contribution to the development of active and passive safety systems, like ESP and rollover-prevention.Dr.-Ing. Roberto Bardini has been working since March 2000 as a development engineer in the field of vehicle safety, first with the company Audi and since October 2003 with the company BMW. He is engaged in spatial multi-body simulation of occupants and vehicles since his mechanical engineering degree in 1996 at the chair of mechatronics under direction of Professor Hiller. Especially for the design of occupant protection systems for vehicle rollover, he has developed simulation tools that are successfully