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This text explains the basics of vehicle dynamics and offers the rules for building simulation models, thus enabling the reader to develop his own simulation model for vehicle dynamics and to apply commercial simulation programmes.

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The authors examine in detail the fundamentals and mathematical descriptions of the dynamics of automobiles. In this context different levels of complexity will be presented, starting with basic single-track models up to complex three-dimensional multi-body models. A particular focus is on the process of establishing mathematical models on the basis of real cars and the validation of simulation results. The methods presented are explained in detail by means of selected application scenarios.

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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

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