Vehicle Dynamics and Control

Data is displayed for academic year: 2023./2024.

Lecturers

Prof.
Stjepan Bogdan
Prof.
Jadranko Matuško
Assoc. Prof.
Šandor Ileš

Lectures

Asst. Prof.
Goran Vasiljević

Laboratory exercises

Josip Kir Hromatko
univ. mag. ing. el. techn. inf.

Course Description

Within the course, the most widely used models of vehicle longitudinal, lateral and vertical dynamics will be presented. Typical state estimation systems and control structures used in modern vehicles will be discussed. Lectures in the first study cycle will be accompanied by 3 individual exercises on modelling and those in the second study cycle will be extended by a group project on vehicle dynamics control.

Study Programmes

University graduate
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Learning Outcomes

  1. Derive bucycle mathematical model of vehicle
  2. Design controller for longitudinal vehicle motion
  3. Design controller for lateral vehicle stabilization

Forms of Teaching

Lectures

Lectures will be organized on weekly basis with 2 hours weekly load

Laboratory

The course contains 3 individual exercises and a group project

Week by Week Schedule

  1. Introduction, terminology, subsystems
  2. Longitudinal vehicle dynamics: aerodynamic drag force, rolling resistance, transmission, engine and wheel dynamics
  3. Road-tire interaction: longitudinal and lateral forces, Pačejka's model, friction ellipse
  4. Lateral vehicle dynamics: kinematic bicycle model, Ackermann steering geometry
  5. Lateral vehicle dynamics: dynamic bicycle model, understeer gradient, steering stability analysis
  6. Lateral vehicle dynamics: dual track model, lateral load transfer, braking and traction force distribution
  7. Vertical vehicle dynamics: suspension types, models with one and two degrees of freedom, roll dynamics, road influence analysis
  8. Midterm exam
  9. Vehicle state estimation: longitudinal speed estimation, Kalman filtering, sideslip angle estimation
  10. Longitudinal dynamics control: cruise control, anti-lock braking system (ABS)
  11. Longitudinal dynamics control: feedforward cruise control, traction control
  12. Lateral dynamics control: error space bicycle model, active steering
  13. Lateral dynamics control: differential braking, torque vectoring
  14. Guest lecture and course review
  15. Final exam

Literature

Rajesh Rajamani (2011.), Vehicle Dynamics and Control, Springer Science & Business Media
Reza N. Jazar (2017.), Vehicle Dynamics, Springer

For students

General

ID 222451
  Summer semester
5 ECTS
L1 English Level
L1 e-Learning
30 Lectures
0 Seminar
0 Exercises
12 Laboratory exercises
0 Project laboratory
0 Physical education excercises

Grading System

87.5 Excellent
75 Very Good
62.5 Good
50 Sufficient

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