Linear Analysis of Lateral Vehicle Dynamics

Systematic analysis of lateral dynamics of a ground vehicle (e.g. passenger car) is presented in this paper. The results are based on the simplest possible single-track model. Effects of variations in the physical parameters - mass, the moment of inertia, tire priorities, vehicle geometry - on the response times, damping ratios, natural frequencies and other dynamical characteristics are presented and confronted with intuitive and ”common sense” expectations and with real-life experience of race car drivers and constructors. We believe that such a report is quite unique and useful by itself: we are not aware of any similar existing report which would provide this systems-and-controls viewpoint on the vehicle dynamics phenomena. In addition, future plans are to apply modern systematic model based control design approaches to come up with active dynamics modifications solutions - using for instance torque vectoring - surpassing current approaches based mainly on mechanical redesigns and, to some extent, simplest possible local feedback controllers.