CHAPTER

VEHICLE DYNAMICS
AND CONTROL

1.1 DEFINITION OF THE VEHICLE

Ground vehicles can be divided into two main categories: vehicles that are restricted by a track set
on the ground (e.g., railway vehicles) and vehicles that are unrestricted by tracks, free to move in
any direction on the ground by steering the wheels (e.g., road vehicles).
Aircraft are free to fly in the air, while ships can move freely on the waters surface. In the
same way, the road vehicle is free to move by steering its wheels, and it shares similarities with
aircraft and ships in the sense that its movements are unrestricted.
From the viewpoint of dynamic motion, the similarity lies in the fact that these three moving
bodies receive forces generated by their own movement that are used to accomplish the desired
movement. Aircraft depend on the lift force caused by the relative motion of its wings and the air;
ships rely on the lift force brought by the relative motion of its body and the water; and ground
vehicles rely on the lateral force of the wheels created by the relative motion of the wheels and
the road.
In the above described manner, the dynamics and control of the three moving bodies is
closely related to their natural function, whereby for an airplane, it is established as flight
dynamics, for a ship as ship dynamics, and for a vehicle, similarly, as vehicle dynamics.
The vehicle studied in this book is a vehicle similar to the airplane and ship that is capable of
independent motion on the ground using the forces generated by its own motion.

1.2 VIRTUAL FOUR-WHEEL VEHICLE MODEL

For the study of vehicle dynamics and control, a typical vehicle mathematical model is assumed.
This vehicle model has wheels that are steerable: two at the front and two at the rear, which are
fitted to a rigid body. Passenger cars, trucks, buses, and agricultural vehicles all fall into this
category. At first sight, it may seem there are no common dynamics among these vehicles, but by
applying a simple four-wheeled vehicle model, as in Figure 1.1, it is possible to obtain fundamental knowledge of the dynamics of all these vehicles.
In the vehicle mathematical model represented in Figure 1.1, the wheels are regarded as
weightless, and the rigid body represents the total vehicle weight. The coordinate system is fixed
to the vehicle, the x-axis in the longitudinal direction, the y-axis in the lateral direction, and the
z-axis in the vertical direction, with the origin at the vehicles center of gravity.
With this coordinate system, the vehicle motion has six independent degrees of freedom:
1. Vertical motion in the z-direction
2. Left and right motion in the y-direction
Vehicle Handling Dynamics. http://dx.doi.org/10.1016/B978-0-08-100390-9.00001-4
Copyright 2015 Masato Abe. Published by Elsevier Ltd. All rights reserved.

CHAPTER 1 VEHICLE DYNAMICS AND CONTROL

FIGURE 1.1
Vehicle dynamics model.

3.
4.
5.
6.

Longitudinal motion in the x-direction

Rolling motion around the x-axis
Pitching motion around the y-axis
Yawing motion around the z-axis

These motions can be divided into two main groups. One group consists of motions 1, 3,
and 5, which are the motions generated without direct relation to the steering. Motion 1 is the
vertical motion caused by an uneven ground/road surface and is related to the vehicle ride.
Motion 3 is the longitudinal, straight-line motion of the vehicle due to traction and braking during
acceleration or braking. Motion 5 is the motion caused by either road unevenness, acceleration, or
braking and is also related to the vehicle ride.
Motions 2 and 6, the yaw and lateral movements, are generated initially by steering the vehicle.
Motion 4 is generated mainly by motions 2 and 6 but could occur due to road unevenness as well.
As described earlier, the vehicle studied in this text can move freely in any direction on the
ground by steering the vehicle. The main behavior studied here is regarding motions 2, 4, and 6,
which are caused by the steering of the vehicle. Motion 2 is the lateral motion, motion 6 is the
yawing motion, and motion 4 is the rolling motion.

1.3 CONTROL OF MOTION

For normal vehicles, motions are controlled by the driver. The lateral, yaw, and roll motion of the
vehicle are generated by the drivers steering and depend on its dynamic characteristics. This does
not mean the driver is steering the vehicle meaninglessly. The driver is continuously looking at
the path in front of the vehicle, either following his target path or setting a new target path to
follow. The driver is observing many things, such as the current position of the vehicle in
reference to the target path and the current vehicle motion. The driver is also predicting the
imminent vehicle behavior. Based on this information, the driver decides on and makes the
suitable steer action. In this manner, the vehicle generates its motion in accordance to a target path
that is given or a path set by the driver. Figure 1.2 shows the relation of vehicle motion and control
in a block diagram.
The vehicle that is capable of free motion within a plane, without direct restrictions from
preset tracks on the ground, only produces a meaningful motion when it is acted on by suitable
steering control from the driver.

1.3 CONTROL OF MOTION

disturbance
driver

vehicle

motion

FIGURE 1.2
Vehicle and drivers control.

The primary interest now lies in the inherent dynamic characteristics of the vehicle itself. This
becomes clear from the motion of the vehicle to a certain steering input. Next is to study
this vehicles characteristics when it is controlled by a human driver. Finally, the aim is to explore
the vehicle dynamic characteristics that make it easier for the driver to control the vehicle.