Joseph Kiefer


The lateral dynamics of a road vehicle is studied through the development of a mathematical model. The vehicle is represented with two degrees of freedom, lateral and yaw. Equations of motion are derived for this vehicle model from basic principles of Newtonian mechanics. Both linear and non-linear models are developed. In the linear model tire lateral forces are represented by an approximate linear relationship. Transfer functions are written for the vehicle system for various control and disturbance inputs. Steady-state and transient response characteristics and frequency response are studied, and numerical simulation of the model is performed. In the non-linear model a detailed representation of tire lateral forces known as tire data nondimensionalization is utilized. Simulation is performed and compared with the linear model simulation to determine the range of applicability of the linear modeling assumptions.

Library of Congress Subject Headings

Motor vehicles--Dynamics--Computer simulation; Structural dynamics--Computer simulation

Publication Date


Document Type


Department, Program, or Center

Mechanical Engineering (KGCOE)


Kochersberger, Kevin

Advisor/Committee Member

Nye, Alan

Advisor/Committee Member

Hennessey, Michael


Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works. Physical copy available through RIT's The Wallace Library at: TL243 .K54 1996


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