Simulation of vehicle’s lateral dynamics using nonlinear model with real inputs

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Basic understanding of vehicle’s lateral dynamics may be achieved by using relatively simple mathematical-mechanical models. However, these models are often linearized and do not take into account nonlinear phenomena in vehicle’s lateral dynamics and highly nonstationary nature of vehicle’s vibrations in real driving conditions. One form of nonlinear nonstationary model of vehicle’s lateral dynamics is developed in this paper. Simulations were conducted using experimentally recorded values of the steering wheel angle for generation of the front wheels steer angle, and vehicle longitudinal velocity as inputs to the model. Results of simulations of vehicle angular vibrations around the vertical axis, angular body side slip vibrations, tire slip angles, vehicle lateral acceleration wheel forces and inertial force are presented and discussed. Finally, conclusions regarding possible further use of the developed model were drown.