ROAD AND

OFF-ROAD VEHICLE
SYSTEM DYNAMICS
HANDBOOK

Edited by

Giampiero

Mastinu

Manfred Ploechl

CRC Press
Taylor & Francis Croup
Boca Raton
CRC Press is an

Taylor

imprint
Croup,

& Francis

London New York

of the
an

informa business

Contents
Preface

ix

Contributors

xi

Chapter

Masao

Nagai

Modeling, Analysis, and Optimization

Part I

History of Road and Off-Road Vehicle System Dynamics

in Vehicle

System Dynamics
Chapter

Vehicle Models and

Equations

of Motion

13

Werner Schiehlen

Chapter 3

Simulation

Algorithms and Software

Tools

45

Martin Arnold

Chapter

Nonlinear Solid Mechanics with Finite Elements

Anna

Chapter

69

Pandolfi

Nonlinear Vehicle

121

Dynamics

Hans True

Chapter

Controls and Identification

Stefan
Chapter

159

Jakubek and Martin Kozek

Actuators and Sensors

221

Yoshihiro Slida

Chapter

Optimization

of Ground Vehicle

Massimiliano Gobbi and Panos Y.

Chapter

Fatigue

and Structural

Thomas Bi nder,
Michael

241

Systems
Papalambros

Durability of

Automotive

Components

Holger Hanselka, Riidiger Heim,

Kieninger, Jurgen Nuffer,

Heinz

263

Kaufmann,

and Cetin M. Sonsino

Contents

vj

10

Chapter

Reliability

Assessment of Mechatronic Devices in Vehicles

Bernd Bertsche, Jochen

Jiirgen Nuffer, and Kai

Vehicle

Part II
Chapter

11

Chapter 12 Off-Road

Gang, Holger Hanselka, Soong-Oh Han,

Wolf

Concepts and Aerodynamics

Conceptual Design
Giampiero

307

of Road Vehicles Related to

Dynamics

329

R.M. Mastinu

Vehicles

(Wheeled

and

395

Tracked)

Giinter H. Hohl

Chapter 13 Motorcycles
Robin S.

Chapter

14

and Three-Wheeled Vehicles

477

Sharp

Race Cars: Frame,

497

Suspension, Aerodynamics

Andrea Toso

Chapter

15

Race Cars:

Braking System

517

Carlo Maria Domenico Cantoni and

Chapter 16 Aerodynamics and

Andreas

Part III
Chapter

17

Previati

529

Dynamics

Wagner

Pneumatic Tires and Contact Wheel-Road/Off-Road

Tire

as

Hans B.

Chapter 18

Vehicle

Giorgio

Vehicle Component

563

Pacejka

Pneumatic Tire Models: The Detailed Mechanical

Approach

625

Michael Gipser

Chapter

19

Pneumatic Tire: Construction and

Maurizio Boiocchi and

Chapter

Giuseppe

Testing
Matrascia

20 Mechanics of Off-Road Vehicle-Terrain Interaction:

Terramechanics
Jo Y.

Wong

657

697

vii

Contents

Part IV
Chapter

21

of Vehicle

Modeling

Subsystems
727

Suspension Systems
Wolfgang Matschinsky

769

Chapter 22 Active and Semiactive Suspension Systems

Davor Hrovat, Eric H.

Chapter

23

Tseng, Michael Fodor, andJahan Asgari

797

Driveline
Andreas Laschet and Ferit

Chapter

24

Brake

Kiiqiikay
837

System Dynamics

Carlo Maria Domenico Cantoni, Riccardo Cesarini,

Giampiero

Chapter

25

26

Roberto

Sicigliano
919

Kageyama

Dynamic Problems

Structural and
Giovanni

Part V

Giorgio Previati, and

Steering System
Ichiro

Chapter

R.M. Mastinu,

Belingardi

Vehicle

943

Body Design

and Massimiliano Avalle

Dynamics

Chapter 27 Basics of Longitudinal

Manfred Ploechl,

in Car

and Active

and Lateral Vehicle

Peter

Lugner,

Chapter 28 Detailed Modeling, Simulation,

Safety
971

Dynamics

and Johannes Edelmann

and

Analysis

of Vehicle

Dynamics

1023

Dieter Amnion

Chapter 29 Ride Comfort

Karl

Chapter 30

Holding

1059

Popp

Control of Horizontal Vehicle Motion

Anton

Chapter 31

and Road

van

1093

Zanten

Active and Semi-Active

Davor Hrovat

Suspension Control

1179

Contents

VIII

1227

Chapter 32 Integrated Controls

Masato Abe

Chapter 33 Dynamics

of

Heavy Commercial

1245

Vehicles and Buses

John Aurell

Chapter

34

Off-Road Vehicles

1279

Motorcycle Handling Dynamics

1313

Dynamics of
Jo Y.

Chapter

35

Wong

Robin S. Sharp

Part VI

Man-Vehicle Interaction
1379

Chapter 36 Vehicle Comfort

Karl Siebertz

Chapter

37

Subjective

and

Objective

Evaluations of Car

Handling

and Ride

1395

Gwanghun Gim
Chapter

38

Driver Models in Automobile

Manfred

Part VII
Chapter

39

40

Ploechl and Johannes Edelmann

Intelligent

Vehicle

Systems

Automatic Lateral Vehicle Control

Huei

Chapter

1477

Dynamics Application

1525

Peng

Longitudinal Control

1549

Paul Fancher and Charles MacAdam

Part VIII
Chapter

41

Road Accident Reconstruction and Passive

Analysis

and Reconstruction of Road Accidents

Safety
1583

Horst Ecker

Chapter

42

Automotive Structural Crashworthiness and

Occupant Protection

1611

Jorge Ambrosio
Index

1663