Browse Topic: Vehicle handling

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Hierarchical Control Strategy Evaluation and Migration for a Four-Degree-of-Freedom Quarter Commercial Vehicle02-19-03-00144/9/2026
In order to improve the comfort performance in commercial vehicles, this study proposes a hierarchical control strategy that integrates the evaluation and migration of control algorithms. First, a quarter-vehicle model with four-degree-of-freedom (4-DOF) is constructed, incorporating the dynamics of the wheel, frame, driver’s cab, and seat. The key modal characteristics of the model are then verified through amplitude–frequency analysis, confirming their consistency with the typical vibration patterns observed in actual commercial vehicles, which provides the foundation for subsequent control strategy evaluation and migration. Then, based on a standard two-degree-of-freedom (2-DOF) suspension model, a weighted comprehensive evaluation function is developed to account for comfort, structural safety, handling stability, and both time- and frequency-domain performance indicators. Using this evaluation function, various control algorithms—including Skyhook control (SH), acceleration-based
Pan, Ting, Pang, Jianzhong, Wu, Jinglai, Zhang, Jiuxiang, Kang, Gong, Zhang, Yunqing
Oscillatory Behavior of Understeering Vehicles2026-01-06234/7/2026
Oscillations in understeering vehicles are occasionally described in the literature, primarily in terms of the poles of the yaw rate response, but perhaps not completely appreciated in their complexity. This work shows that as speed of an understeering vehicle increases, the increasingly underdamped poles of the yaw rate transfer function combine with the effects of a low frequency zero and a reduced steady-state response to result in oscillations greater than would be expected from eigenvalues alone. A speed range for acceptable yaw rate response is suggested, and it is shown that a typical understeering passenger car operates within this range. As the understeering vehicle’s speed increases beyond this range, the high-speed limit of the oscillation frequency is found.
Williams, Daniel
Integrated Effects of Suspension Geometry and Tire Pattern Design on Vehicle Pull Reduction under Acceleration in High-Performance and Electric Vehicles2026-01-05934/7/2026
Vehicle pull under acceleration is a phenomenon commonly observed in high-performance vehicles and electric vehicles (EVs), primarily arising asymmetric driveshaft angles, drivetrain architecture, and suspension geometry. In addition to these mechanical factors, tire characteristics, particularly the tire lateral force generated at the contact patch, significantly influence this effect. The lateral force is intricately tied to the dynamics of the contact patch and the geometric design of the tire tread pattern. This study investigates the relationship between tread pattern geometry and vehicle pull under acceleration, emphasizing the role of tire lateral force variations. By employing finite element (FE) simulation, lateral force response variations (dfy/dfx) resulting from tread block deformation were analyzed. Based on these simulation, a robust analytical methodology for tread pattern evaluation and optimization was established. The developed tread pattern characteristic parameter
Yoon, Youngsam, Jang, Dongjin, Kim, Hyungjoo, Lee, Jaekil
Data-Driven Study on Chassis Suspension Performance Degradation2026-01-05824/7/2026
The performance of chassis suspension mechanisms critically affects vehicle handling, ride comfort, and safety. Implementing real-time health monitoring for chassis systems contributes to preventing severe consequences such as increased body roll or loss of handling stability caused by shock absorber softening or spring stiffness degradation under deteriorating operating conditions, while circumventing the substantial costs associated with professional facility-based chassis inspections. With the rapid development of sensing and data analytics technologies, data-driven approaches are increasingly used in health monitoring. This study aims to achieve online monitoring of chassis suspension performance degradation using a deep neural network (DNN). First, a half-car model incorporating both vertical and pitch motions was established to simulate bumpy road conditions, with the aim of constructing a dataset that includes key vehicle suspension parameters and vehicle states related to their
Liao, Yinsheng, Lei, Yisong, Su, Ailin, Wang, Zhenfeng, Shi, Shuai, Zhang, Lei, Zhang, Junzhi, Ma, Changye
System-Level Performance of Torque Vectoring Controllers for Electric Vehicles with In-Wheel Motors10-10-04-00293/13/2026
Torque Vectoring (TV) is a critical control technology for enhancing the vehicle dynamics and stability of electric vehicles equipped with four-wheel-independent-drive (4WID) systems. A central challenge in TV design is managing the trade-off between maximizing handling performance and minimizing energy consumption, a crucial factor for EV range. While numerous advanced TV control strategies have been proposed, a comprehensive and comparative benchmark of foundational controllers evaluated on a platform that captures this trade-off is notably absent from the literature. Among the numerous TV control strategies proposed in literature, they are typically evaluated using simplified vehicle models that neglect the detailed dynamics and efficiency losses of the electric powertrain. This study addresses this gap by presenting a comprehensive comparison of six distinct TV control strategies—PID, LQR, two first-order Sliding Mode Controls (SMC), and two second-order SMCs. The controllers are
de Carvalho Pinheiro, Henrique, Carello, Massimiliana
Yaw Coordinated Control Based on Fuzzy Control and Stability Region Theory10-10-03-00182/23/2026
Electric vehicle chassis integration control aims to improve vehicle handling and comfort. Previous studies encountered significant practical limitations, such as computational overhead in real-time execution scenarios. Designing effective and efficient algorithms for actuator coordination remains challenging. This article presents a synergetic controller for chassis coordination, combining fuzzy logic and stability region theory. First, the controller targets are the yaw rate and side slip angle, which are obtained from a highly accurate multi-body dynamic model. In addition, based on the generated fuzzy rules, the system calculates the required additional yaw moments for each actuator and optimizes their output. Then, the designed controller can distribute control effort optimally in real-time between braking and rear-wheel steering based on the stability status of the vehicle. Furthermore, a stability factor approach is used to formulate a dynamic safety strategy executed by the
Liao, Yinsheng, Hu, Zhiming, Cheng, Yuanshu, Lin, Ruya, Sun, Yue, Gao, Sixiao, Zhang, Junzhi
Computational Study on Dynamic Handling Performance of a Retro Fitted Electric Two-Wheeler Using 125cc Powered ICE Reference2026-28-00472/12/2026
With the development in motor technology and battery technologies, the scope for a low-cost EV has been increasing in India. There remains an after-mark potential for conversion of an ICE powered two-wheeler to an EV power train. Such a move reduces the carbon footprint from the vehicle drastically and is still being explored. This study investigates the effect of replacing the ICE with an electric motor in a 125cc motorcycle, with a particular focus on vehicle handling performance using Slalom test. The two wheelers were modelled using calculated mass properties and estimated / calculated moments of inertia using CAD for both ICE and electric powertrains. The electric propulsion system took into consideration the role of a battery pack in the mass and MI calculation. The framework with degrees of freedom is well established in BIKESIMTM simulation environment. A slalom test with automatic gear shift and throttle to maintain speed of the vehicle was set-up to estimate the handling
Sankarasubramanian, Hariharan, M, Shaghasra, V, Ramprathap
Advance Techniques to Optimize Variable Gear Ratio Steering for High Centre of Gravity Vehicles2026-26-00861/16/2026
Vehicles with a high center of gravity (CG) and moderate wheel track, like compact Sport Utility Vehicles (SUVs), have a relatively low Static Stability Factor (SSF) and thus are inherently less stable and more susceptible to rollover crashes. Moreover, to be more maneuverable in highly populated urban areas, a smaller Turning Circle Diameter (TCD) is necessary. Here, Variable Gear Ratio (VGR) steering systems have major benefits over traditional Constant Gear Ratio (CGR) systems in terms of enhancing both roll stability and agility. To adapt VGR steering systems to a particular vehicle dynamic, Full Vehicle (FV) and Driver-in-the-Loop (DIL) simulations are utilized. Using this method, exact calibration is possible according to realistic driving conditions so that the VGR steering C-factor curve is properly tuned for optimal handling in on-center, off-centre, and transitional areas of the Steering Wheel Angle (SWA). Primary performance measures—e.g., SWA gradients at different lateral
Rewale, Pratik, Kopiec, Jakub, Kumar, Deva, Rasal, Shraddhesh, Hussain, Inzamam, Nehal, S B
Predictive Simulation Framework for Tyre Curb Impact Durability Assessment and Design Optimization2026-26-03961/16/2026
With increased deterioration of road conditions worldwide, automotive OEMs face significant challenges in ensuring the durability of structural components. The tyre being the primary point of contact with the road is expected to endure harshest of impacts while maintaining the other performance functions such as Ride & Handling, Rolling resistance, Braking. Thus, it is considered as the most challenging component in terms of design optimization for durability. The current development method relies on physical testing of initial samples, followed by iterative construction changes to meet durability requirements, often giving trade-off in Ride & Handling performance. To overcome these challenges, a frugal simulation-based methodology has been developed for predicting tyre curb impact durability before vehicle-level testing so that corrective action can be taken during the design stage.
Sundaramoorthy, Ragasruoban, Lenka, Visweswara
Experimental Evaluation of High Energy Impact Test of Wheel Rim2026-26-05041/16/2026
High energy impact testing using free fall mass is a crucial method for evaluating the structural integrity, and safety performance of automotive components subjected to sudden impact forces. This study focuses on assessing critical parts such as wheel rims, suspension knuckles, commonly exposed to unintentional impacts during vehicle operation, maintenance, or collisions. The test involves dropping a standardized mass from predetermined heights onto the component to simulate real-world impact scenarios. Key performance indicators include deformation, crack propagation, fracture resistance, and energy absorption capacity. Wheel rims and knuckles are evaluated for their ability to maintain structural integrity under localized impact without compromising vehicle handling or safety. Seats and related interior structures are tested to ensure occupant protection during crash-like events. Other components, such as brackets, mounts, or housings, are included based on functional criticality
Roham, Prasad, Bagade, Mohan, Sinnarkar, Nitin, Pawar, Prashant R, Shinde, Vikram
Influence of Bushing Stiffness Measurement Methodology on Axle Elasto-Kinematics2026-26-00941/16/2026
The handling of a vehicle is crucial to the perception of its dynamic characteristics, such as comfort, stability, composure, sportiness, and precision. Kinematics and Elasto-kinematics, also known as Kinematics and Compliance (K&C), form the basis of an automobile's handling characteristics. Kinematics focuses on the movement of suspension components, including wheels, axles, and linkages, and how these movements relate to the vehicle's body motion. Compliance refers to the suspension's ability to deform under load, primarily due to the flexibility of springs, bushings, and other elastic components. Elastomer bushings, as flexible elements in the kinematic chain, significantly impact K&C and require a detailed study. Suspension bush stiffness is typically measured through static and dynamic tests, in various directions – radial, axial, torsional, etc. Tests involve applying a force or torque and measuring the resulting deflection and/or rotation. These measurements are used to
Avhad, Anish
Steering on-Center Feel and Yaw Response Enhancement through Optimization of System Level Characteristics2026-26-00821/16/2026
To export India based SUVs to European markets, change in steering position is required to suit vehicle driving condition. Ideally, RHD and LHD variants of the same vehicle should have similar levels of ride and handling performance parameters. However, due to various packaging constraints and regulations, there is a possibility of minor change in Hard-points of steering or suspension system which may lead to different behavior in terms of body roll and steering response. While cornering or double lane change maneuvers, difference in steering phase angles or steering stiffness or suspension hardpoints results in different roll behavior as well as understeer characteristics of the vehicle. The present study shows key parameters and optimization methodology to maintain same level of ride and handling performance in both RHD and LHD variants. Objective measurements and physical kinematics and compliance tests were carried out with various configurations of RHD and LHD variants to
Hussain, Inzamam Ul, Kamarthi, Ashwin, Rewale, Pratik, Nehal, S B, Rasal, Shraddhesh, Naidu, Kethireddi
Modelling and Simulation of Key Vehicle Dynamics Parameters for a Conceptual Race Car2026-26-00851/16/2026
Vehicle dynamics is a vital area of automotive engineering that focuses on analyzing how a vehicle responds to driver inputs and external factors like road conditions and environmental influences. Achieving optimal performance, safety, and ride comfort requires a detailed understanding of longitudinal, lateral, and vertical dynamic behavior. The objective of this paper is to develop and validate the model of a concept Race car and evaluate its vehicle dynamics behavior using IPG CarMaker, a high-fidelity virtual testing environment widely used in industry. The model incorporates a range of vehicle parameters, including suspension parameters like spring and damper characteristics, mass distribution, tire properties and powertrain parameters. The performance evaluation is done as per standard guidelines, including Constant Radius turn test, Sine Steer test and other standard tests like Acceleration, Braking along with Ride and Comfort classification. The key parameters that are
Agrewale, Mohammad Rafiq B., Vaish, Ujjwal
Effect of Flow Forming Process on the Mechanical Properties and Microstructure of GDC & LPDC Cast Aluminium Alloy Wheels2026-26-02981/16/2026
Aluminum alloy wheels have become the preferred choice over steel wheels due to their lightweight nature, enhanced aesthetics, and contribution to improved fuel efficiency. Traditionally, these wheels are manufactured using methods such as Gravity Die Casting (GDC) [1] or Low Pressure Die Casting (LPDC) [2]. As vehicle dynamics engineers continue to increase tire sizes to optimize handling performance, the corresponding increase in wheel rim size and weight poses a challenge for maintaining low unsprung mass, which is critical for ride quality. To address this, weight reduction has become a priority. Flow forming [3,4], an advanced wheel rim production technique, which offers a solution for reducing rim weight. This process employs high-pressure rollers to shape a metal disc into a wheel, specifically deforming the rim section while leaving the spoke and hub regions unaffected. By decreasing rim thickness, flow forming not only enhances strength and durability but also reduces overall
Singh, Ram Krishnan, Medaboyina, HarshaVardhan, G K, Balaji, Gopalan, Vijaysankar, Sundaram, Raghupathi, Paua, Ketan
Torque Vectoring Control Techniques for Vehicle Parking2026-26-05901/16/2026
Parking in confined spaces can be quite challenging. It is often a herculean task to align the vehicle in the parking slots where the driver has to make several attempts to park properly. One such ingenious technology that augments vehicle handling, directional controlling and overall driving agility is torque vectoring. It is becoming a pioneer in creating smarter, more responsive vehicles unlike traditional vehicles. With torque vectoring, EV’s can precisely control the torque delivered to each wheel with independent motors per wheel. In confined spaces as well by selectively distributing torque to individual wheels, it optimizes traction and vehicle control, making tasks like parking, sharp turns, and navigating narrow streets smoother and more efficiently. This paper confers about the use of torque vectoring techniques in electric vehicles for smoother and more proficient vehicles handling in tight spaces like parking, which significantly reduces driver efforts while maximizing the
Gangad, Vikas Shridhar, Gautam, Era, Chaudhari, Gitesh, Penta, Amar
Adoptive Safety Solutions in Road Simulators for Commercial Vehicle Structural Validation2026-26-05331/16/2026
Road Simulators used to carry out accelerated structural durability validation of a vehicle. As a commercial vehicle manufacturer, for our commercial vehicles structural validation, we are using 8 poster road simulators. We use road load data, torture track data, synthetic profiles or road events as the input test data. From a mini 4 wheeler trucks to high capacity 8 wheeler truck, and any bus variant is being tested at road simulator. All the vehicle variants are tested with prescribed road and load conditions for the pre-determined life. Each wheel of the vehicle is positioned on the wheel pan of the hydraulic actuators so that each actuator excites the corresponding vibration data. The vehicle is being restrained as per the manufacturers recommendation. Manufacturer recommendations widely addresses the risks associated with the test rigs. In addition to that there are risks associated with the vehicle running, vehicle handling, vehicle positioning. For example, when durability test
Arumugam, Paramasivam, N, Gopi Kannan, N, Mahendra, Muthu kumar, Pandurangan, Singh, Laxman, Tiwari, Manish, V, Subash
Design of a McPherson Strut Based Split Link Front Suspension for a Higher Rear to Front Weight Ratio SUV with Least Turning Circle Diameter2026-26-00921/16/2026
Generally, in an electric sports utility vehicle with rear mounted powertrain the mass distribution is greater in the rear compared to front. This higher rear to front weight distribution results in oversteer behavior during high-speed cornering deteriorating vehicle handling & risking passenger safety. To compensate this inherent oversteer nature of such vehicles & produce understeer behavior, the steering rack is placed frontwards of the front wheel center for toe-out behavior due to lateral compliance during cornering. This compensation measure results in lower Ackermann percentage resulting in higher turning circle diameter deteriorating vehicle maneuverability. This paper proposes a design to obtain ideal understeer gradient with minimal turning circle diameter through utilization of split link technology with a McPherson Strut based suspension framework & frontwards placed steering rack. This suspension is utilized in our Mahindra Inglo platform. This paper elaborates on how
Nadkarni, Ameya Ravindra, Mhatre, Nitij, Patnala, Avinash, NAYAK, Bhargav
Systematic Study to Understand and Resolve Brake Pull in Commercial Vehicles Using Simulation and Proving Ground Tests2026-26-00831/16/2026
In traditional commercial vehicles with leaf spring suspension and Recirculating Ball Joint (RCBT) steering systems often experience undesirable pulling due to unsymmetrical steering mechanism during braking, especially when the suspension and steering hardpoints are not properly tuned. This work analyzes the mechanisms responsible for pulling tendencies, primarily addressing brake steer and bump steer, which occur due to misalignments in the suspension and steering geometries. Brake steer occurs when braking forces create an imbalance in torque, resulting in the vehicle deviating to one side. On the other hand, bump steer refers to the unwanted changes in the wheel alignment when the suspension undergoes travel, leading to instability or unintended steering input. These two phenomena, if not controlled, can result in undesirable vehicle handling, especially under heavy braking conditions. This work focuses on evaluating these mechanisms and suggests strategies for minimizing their
Pandhare, Vinay Ramakant, M, Anantha Padmnabhan, Nizampatnam, Balaramakrishna, Londhe, Abhijit, Doundkar, Vikas
New Generation Natural Rubber-Based Bump Stopper with Improved NVH Characteristics2026-26-02921/16/2026
In automotive suspension systems, components like bump stoppers and jounce bumpers play critical roles in controlling suspension travel and enhancing ride comfort. Material selection for these components is driven by functional demands and performance criteria. Traditionally, Natural rubber (NR) has traditionally been favored for bump stopper applications due to its excellent vibration absorption, tear resistance, cost-effectiveness, and biodegradability. However, in more demanding environments, it has been largely replaced by microcellular polyurethane (PU) elastomers, which offer superior durability, environmental resistance, and enhanced noise, vibration, and harshness (NVH) performance. This study revisits NR with the goal of re-establishing its viability by enhancing its performance to match or surpass that of PU. Through compound optimization and advanced material processing techniques, significant improvements have been achieved in NR’s mechanical strength, compression set
Murugesan, Annarajan, Hingalaje, Abhijeet, Perumal, Mathavan, Pawar, Rohit
Performance Evaluation and Optimization of Engine Brake System using Chassis Dynamometer2026-26-05111/16/2026
Engine braking is a deceleration technique that leverages the internal friction and pumping losses within the engine. By closing the throttle and potentially selecting a lower gear, the engine creates a retarding force that slows the vehicle. This practice contributes to better fuel economy, decreased brake system load, and improved vehicle handling in specific driving scenarios, such as steep declines or slippery road surfaces. To alleviate stress on their primary braking systems and prevent overheating, heavy vehicles frequently incorporate engine-based braking. While older trucks relied on simple exhaust brakes with a butterfly valve to restrict exhaust flow, these had limited impact. Hence contemporary heavy vehicles almost exclusively use more advanced engine braking technologies. Traditionally, our heavy-duty vehicles use Exhaust brake system to elevate the braking performance on hilly terrains. Hence an improved sample of Engine brake was developed for enhanced braking
M, Vipin Prakash, Rajappan, Dinesh Kumar, R, Suresh, N, Gopi Kannan
Minimizing Impacts of Road Adhesion Perturbations: Uncertainty Allocation for Control Synthesis of X-by-Wire Chassis2025-01-732712/31/2025
Model-based optimal control has been widely adopted for vehicular stability enhancement. However, existing schemes still suffer from unmodelled external disturbances such as road adhesion variations, which leads to significant performance degradation. The recent progress in X-by-wire chassis brings promising solution to address this challenge. Utilizing independent steering along with distributed driving systems, this paper proposes a vehicular control programs that actively distribute tire forces in both longitudinal and lateral directions to minimize the impact of external parameter perturbations. Firstly, an adhesion disturbance modeling approach integrating composite slip and single-wheel reachability analysis is developed to accurately characterize the feasible region of tire forces under adhesion disturbances. Secondly, based on the disturbance propagation mechanism, the sensitivity differences of various tire force distribution strategies to key vehicle states are systematically
Lv, Haoran, Tang, Chen, Zhang, Pengjun, Xiong, Lu
On Optimal Tire Usage in the Path-Tracking Control of Four-Wheel Independent Steering Four-Wheel Independent Drive Electric Vehicles12-09-02-001410/22/2025
Four-wheel independent steering four-wheel independent drive electric vehicles have an independent steering motor and an independent driving motor for each wheel, for a total of eight motors. About 28 works in this emerging field have shown path-tracking control algorithms for these vehicles, 18 of them explicitly or implicitly aspire for a condition known as optimal tire usage. This article first defines this optimality condition and explains its significance. Second, this article identifies three indicators of tire usage that aid in assessing the existing algorithms. Third, this article performs block diagram examination of four of the 18 works, revealing significant commonalities across the 28 works and identifying areas for improvement in three of the four algorithms. Lastly, this article suggests motor control systems to fill these gaps. Furthermore, it employs these motor control systems in one of the four algorithms, and illustrates path-tracking and achievement of the
Kumar, Dileep, Potluri, Ramprasad
Coordinated Strategy of Trajectory Tracking and Stability Control for Autonomous Vehicles with Switched Envelope and Composite Evaluation10-10-01-000310/13/2025
Trajectory tracking and lateral stability under extreme conditions are critical yet conflicting control objectives due to nonlinear tire dynamics and road adhesion limitation, where accurate characterization of vehicle dynamics for each objective is essential to enable coordinated performance. This article proposes a coordinated control strategy based on switched envelope and composite evaluation to improve both tracking accuracy and stability. Unlike previous stability envelope methods that rely solely on the vehicle’s rear tire saturation boundary to prevent instability, the switched envelope approach incorporates both front and rear tire saturation boundaries to simultaneously mitigate steering loss and instability in trajectory tracking. A critical steering angle, derived from tire slip dynamics and phase plane stability analysis, is formulated as the switching criterion. Additionally, a composite stability evaluation is developed by combining a future disturbance resistance index
Shi, Wenbo, Wang, Junlong, Ding, Haitao, Xu, Nan
Hyundai Palisade: A luxury three-row SUV without the price tag you'd expect25AUTP10_1510/1/2025
Years ago, Hyundai hosted a Palisade drive program for journalists consisting mostly of driving on a gravel road for a few hours. It was weird, and many a journalist told them so. It may not be a direct reaction to that feedback, but on a recent drive program of the new 2026 Palisade, Hyundai made sure that we drove the well-equipped SUV on regular, albeit twisty roads in the Napa region of Northern California. The automaker also took us off-road again. This time, with boulders. Hyundai's Palisade has long found itself in the shadow of Kia's Telluride. Built on the same platform, design-wise, the Kia always tended to turn more heads. With the 2026 upgrade, the Palisade is coming into its own looks-wise, while being outfitted with upgrades that keep the SUV punching above its weight class.
Baldwin, Roberto
From Temperature to Wear: A Quantitative Analysis of Tire Influence on Vehicle Cornering Using Handling Key Performance Indicators2025-01-50609/16/2025
Vehicle behavior is strongly influenced by tire performance, as tires serve as the primary interface between the vehicle and the road surface. Since identical vehicles equipped with different tire sets—or even the same tires operating under varying thermal and wear conditions—can exhibit significantly different handling characteristics, this study aims to quantify their impact on both steady-state and transient cornering responses through a dedicated evaluation methodology. To demonstrate the generalization of the proposed approach, three completely different validated vehicle digital twins—a passenger car, a sports car, and a formula car—are analyzed in a virtual environment, employing Vi-Car Real Time for vehicle and scenario representations, and RIDEsuite for tire modeling, considering thermal and wear effects. The simulations were designed using a structured design of experiments approach, resulting in 15 predefined combinations of tire temperature and wear states. Results show
Aratri, Roberto, Romagnuolo, Fabio, De Pinto, Stefano, Farroni, Flavio, De Bellis, Sergio, Bottiglione, Francesco, Mantriota, Giacomo, Sakhnevych, Aleksandr
Early Detection of the Loss of Control of Motorsport Vehicles10-09-03-00296/30/2025
The article investigates how to detect as quickly as possible whether the driver will lose control of a vehicle, after a disturbance has occurred. Typical disturbances refer to wind gusts, obstacle avoidance, a sudden steer, traversing a pothole, a kick by another vehicle, and so on. The driver may be either human or non-human. Focus will be devoted to human drivers, but the extension to automated or autonomous cars is straightforward. Since the dynamic behavior of vehicle and driver is described by a saddle-type limit cycle, a proper theory is developed to use the limit cycle as a reference trajectory to forecast the loss of control. The Floquet theory has been used to compute a scalar index to forecast stable or unstable motion. The scalar index, named degree of stability (DoS), is computed very early, in the best case, in a few milliseconds after the disturbance has ended. Investigations have been performed at a dynamic driving simulator. A 14 DoF vehicle model, virtually driven by
Della Rossa, Fabio, Fontana, Matteo, Giacintucci, Samuele, Gobbi, Massimiliano, Mastinu, Giampiero, Previati, Giorgio
Multi-Objective Robust Optimization for a Parallel Link Steering System: A Six Sigma and Monte Carlo Approach2025-01-50366/3/2025
The steering system is one of the most important assemblies for the vehicle. It allows the vehicle to steer according to the driver’s intention. For an ideal steering system, the steering angle for the wheel on the left and right side should obey the Ackman equation. To achieve this goal, the optimization method is usually initiated to determine the coordinates of the hard points for the steering system. However, the location of hard points varies due to the manufacturing error of the components and wear caused by friction during their working life. To decrease the influence of geometry parameter error, and system mass, and improve the robust performance of the steering system, the optimization based on Six Sigma and Monte Carlo approach is used to optimize the steering system for an off-road vehicle. At last, the effect is proved by the comparison of other methods. The maximum error of the steering angle is decreased from 7.78° to 2.14°, while the mass of the steering system is
Peng, Dengzhi, Deng, Chao, Zhou, Bingbing, Zhang, Zhenhua
Identification of Suspension Kingpin Alignment Parameters Based on Screw Axis Theorem and Differential Calculation Model2025-01-50345/6/2025
This paper presents an analytical approach for identifying suspension kingpin alignment parameters based on screw axis theorem and differential calculation model. The suspension kingpin caster and inclination alignment parameters can produce additional tire force, which affects vehicle handling dynamics. In wheel steering process, the multi-link suspension control arms lead to movement of the imaginary kingpin, which can cause change in suspension kingpin alignment parameters. According to the structure mechanism of commercial vehicle multi-link independent suspension, the kinematics characteristics of imaginary kingpin were analyzed based on the screw axis theorem. The angular velocity and translation velocity vectors were calculated. In order to avoid the influence of bushing deformation, the unique differential identification model was established to evaluate the suspension kingpin alignment parameters, and the identification results were compared with the ADAMS/Car data. The
Ding, Jinquan, Hou, Junjian, Zhao, Dengfeng, Guo, Yaohua
Road Surface Adaptive Stationary Steering Coordinated Control of Four-Wheel Hub Motor Vehicles2025-01-50314/29/2025
The wheel hub motor–driven electric vehicle, characterized by its independently controllable wheels, exhibits high torque output at low speeds and superior dynamic response performance, enabling in-place steering capabilities. This study focuses on the control mechanism and dynamic model of the wheel hub motor vehicle’s in-place steering. By employing differential torque control, it generates the yaw moment needed to overcome steering resistance and produce yaw motion around the steering center. First, the dynamic model for in-place steering is established, exploring the various stages of tire motion and the steering process, including the start-up, elastic deformation, lateral slip, and steady-state yaw. In terms of control strategy, an adaptive in-place steering control method is designed, utilizing a BP neural network combined with a PID control algorithm to track the desired yaw rate. Additionally, a control strategy based on tire/road adhesion ellipse theory is developed to
Huang, Bin, Cui, Kangyu, Zhang, Zeyang, Ma, Minrui
Coordinated Control Strategy for Longitudinal, Lateral, and Vertical Motions of Distributed Electric Vehicles Based on Model Predictive Control2025-01-83004/1/2025
Distributed electric vehicles, equipped with independent motors at each wheel, offer significant advantages in flexibility, torque distribution, and precise dynamic control. These features contribute to notable improvements in vehicle maneuverability and stability. To further elevate the overall performance of vehicles, particularly in terms of handling, stability, and comfort, this paper introduces an coordinated control strategies for longitudinal, lateral, and vertical motion of distributed electric vehicles. Firstly, a full-vehicle dynamics model is developed, encompassing interactions between longitudinal, lateral, and vertical forces, providing a robust framework for analyzing and understanding the intricate dynamic behaviors of the vehicle under various operating conditions. Secondly, a vehicle motion controller based on Model Predictive Control is designed. This controller employs a sophisticated multi-objective optimization algorithm to manage and coordinate several critical
Jia, Jinchao, Yue, Yang, Sun, Aobo, Liu, Xiao-ang
Modal Analysis Approach for Analysis and Design of Vehicle Transient Behavior2025-01-87944/1/2025
In order to manage the serious global environmental problems, the automobile industry is rapidly shifting to electric vehicles (EVs) which have a heavier weight and a more rearward weight distribution. To secure the handling and stability of such vehicles, understanding of the fundamental principles of vehicle dynamics is inevitable for designing their performance. Although vehicle dynamics primarily concerns planar motion, the accompanying roll motion also influences this planar motion as well as the driver's subjective evaluation. This roll motion has long been discussed through various parameter studies, and so on. However, there is very few research that treats vehicle sprung mass behavior as “vibration modes”, and this perspective has long been an unexplored area of vehicle dynamics. In this report, we propose a method to analytically extract the vibration modes of the sprung mass by applying modal analysis techniques to the governing equations of vehicle handling and stability
Kusaka, Kaoru, Yuhara, Takahiro
Fuzzy Sliding Mode Control of Intelligent Electric Vehicles Based on Phase Plane Stability Domain Boundaries2025-01-88024/1/2025
In order to effectively improve the chassis handling stability and driving safety of intelligent electric vehicles (IEVs), especially in combing nonlinear observer and chassis control for improving road handling. Simultaneously, uncertainty with system input, are always existing, e.g., variable control boundary, varying road input or control parameters. Due to the higher fatality rate caused by variable factors, how to precisely chose and enforce the reasonable chassis prescribed performance control strategy of IEVs become a hot topic in both academia and industry. To issue the above mentioned, a fuzzy sliding mode control method based on phase plane stability domain is proposed to enhance the vehicle’s chassis performance during complex driving scenarios. Firstly, a two-degree-of-freedom vehicle dynamics model, accounting for tire non-linearity, was established. Secondly, combing with phase plane theory, the stability domain boundary of vehicle yaw rate and side-slip phase plane based
Liao, Yinsheng, Wang, Zhenfeng, Guo, Fenghuan, Deng, Weili, Zhang, Zhijie, Zhao, Binggen, Zhao, Gaoming
A Torque Distribution Strategy for the Six-Wheeled Lunar Rover2025-01-83084/1/2025
As a crucial tool for lunar exploration, lunar rovers are highly susceptible to instability due to the rugged lunar terrain, making control of driving stability essential during operation. This study focuses on a six-wheel lunar rover and develops a torque distribution strategy to improve the handling stability of the lunar rover. Based on a layered control structure, firstly, the approach establishes a two-degree-of-freedom single-track model with front and rear axle steering at the state reference layer to compute the desired yaw rate and mass center sideslip angle. Secondly, in the desired torque decision layer, a sliding mode control-based strategy is used to calculate the desired total driving torque. Thirdly, in the torque distribution layer, the optimal control distribution is adopted to carry out two initial distributions and redistribution of the drive torque planned by the upper layer, to improve the yaw stability of the six-wheeled lunar rover. Finally, a multi-body dynamics
Liu, Pengcheng, Zhang, Kaidi, Shi, Junwei, Yang, Wenmiao, Zhang, Yunqing, Wu, Jinglai
Rough Road Vehicle Dynamics Analysis for Vehicle Vibration Assessment2025-01-83064/1/2025
This study is to demonstrate a vehicle dynamics simulation process to assess vehicle vibration performance. A vehicle dynamics model including non-linear tuning elements and flexible vehicle body is simulated on ride roads. The goal of the simulation is acceleration responses at the passenger locations in frequency domain. Body interface loads are recovered from the vehicle dynamic simulations. Frequency response function (FRF) of the body structure is ready in a fashion that input forces are applied to all body interface locations to the suspension and powertrains. This will give acceleration response sensitivity of the body structure to each body interface. The sum of body interface loads multiplied by FRF at each interface produces acceleration responses in frequency domain. A mid-size sedan model was used to demonstrate the process. A full vehicle dynamics model using Ansys Motion was simulated on a virtual ride road at a constant speed. The body loads were recovered in time domain
Hong, Hyung-Joo, Maddula, Pavan Kumar, Jun, Hyochan
Trajectory Tracking Fault-Tolerant Control for Distributed Drive Electric Vehicles Considering Steering Actuator Faults2025-01-82994/1/2025
Trajectory tracking control is a key component of vehicle autonomous driving technology. Compared with traditional vehicles, Distributed Driven Electric Vehicle (DDEV) is an ideal vehicle for trajectory tracking control because of its high space utilization, redundant control freedom and fast system response. However, the chassis execution system of DDEV has a relatively large number of sensors, which significantly increases its probability of failure. In this paper, we propose a trajectory tracking fault-tolerant control method for DDEV considering steering actuator faults. Firstly, we establish the dynamic model of the steering actuator and the trajectory tracking model of DDEV. The model is linearized and discretized by using Taylor series expansion and forward Euler method. Next, considering multi-objective constraints such as motion comfort, actuator saturation and road adhesion boundary, the trajectory tracking control strategy of DDEV is designed by using model predictive
Wang, Deping, Li, Lun, Teng, Yuhan, Zhu, Bing, Chen, Zhicheng
Research on Control Algorithm for Active Rear Wheel Steering System of Passenger Cars2025-01-87554/1/2025
With the continuous development of automobile technology, vehicle handling performance and safety have become increasingly critical research areas. The active rear-wheel (ARW) steering system, a technology that significantly enhances vehicle dynamics and driving stability, has garnered widespread attention. By coordinating front-wheel steering with rear-wheel angle adjustments, ARW improves handling flexibility and stability, particularly during high-speed driving and under extreme conditions. Therefore, designing an efficient ARW control algorithm and optimizing its performance are vital to enhancing a vehicle's overall handling capability. This study delves into the control algorithm design and performance optimization of ARW. First, a comprehensive vehicle dynamics model is constructed to provide a solid theoretical basis for developing control algorithms. Next, optimal control theory is applied to regulate the rear-wheel steering angle, and an LQR control strategy with variable
Zhang, Yi, Zheng, Hongyu, Kaku, Chuyo, Zong, Changfu, Zhang, Yuzhou
Aerodynamic Effect on Vehicle Handling2025-01-87544/1/2025
Vehicle handling is significantly influenced by aerodynamic forces, which alter the normal load distribution across all four wheels, affecting vehicle stability. These forces, including lift, drag, and side forces, cause complex weight transfers and vary non-linearly with vehicle apparent velocity and orientation relative to wind direction. In this study, we simulate the vehicle traveling on a circular path with constant steering input, calculate the normal load on each tire using a weight transfer formula, calculate the effect of lift force on the vehicle on the front and rear, and calculate the vehicle dynamic relation at steady state because the frequency of change due to aerodynamic load is significantly less than that of the yaw rate response. The wind velocity vector is constant while the vehicle drives in a circle, so the apparent wind velocity relative to the car is cyclical. Our approach focuses on the interaction between two fundamental non-linearity’s: the nonlinear
Patil, Harshvardhan, Williams, Daniel
A Study of Tire Handling and Ride Performance Map According to Tire Tread Wear State2025-01-87604/1/2025
The electric vehicle market, vehicle ECU computing power, and connected electronic vehicle control systems continue to grow in the automotive industry. The results of these advanced and expanded vehicle technologies will provide customers with increased cost savings, safety, and ride quality benefits. One of these beneficial technologies is the tire wearing prediction. The improved prediction of tire wear will advise a customer the best time to change tires. It is expected that this prediction algorithms will be essential part for both the optimization of the chassis control systems and ADAS systems to respond to changed tire performance that varies with a tire’s wear condition. This trend is growing, with many automakers interested in developing advanced technologies to improve product quality and safety. This study is aimed at analyzing the handling and ride comfort characteristics of the tire according to the depth of tire pattern wear change. The handing and ride comfort
Kim, Changsu, Kwon, Seungmin, Sung, Dae-Un, Ryu, Yonghyun, Ko, Younghee
Deceleration Testing on Various Driving Surfaces for Off-Road Vehicle Operation2025-01-87044/1/2025
Recreational Off-Highway Vehicles (ROVs) also referred to as “side-by-side” vehicles are involved in accidents / crashes due to driver error. This can often be attributed to an operator’s inexperience and failure to differentiate vehicle handling characteristics from that of a traditional automobile. Decelerating testing of ROVs on various surfaces has not been published for these types of vehicles. This work presents test data for use in accident reconstruction and examines the dynamic performance of two exemplar ROVs on various driving surfaces including asphalt, packed dirt, loose gravel and loose, deep sand. Exemplar vehicles, specifically a 4-person “pure-sport” ROV and a single bench utility ROV, are used to gather practical deceleration performance data. Deceleration data comparing tests with fully-locked brakes to tests where the operator manually modulates the brakes to achieve maximum deceleration without brake lockup are also included. The data presented herein is
Swensen, Grant, Warner, Wyatt, Warner, Mark
Optimized Design and Analysis of a High-Performance, Track-Focused Quad Bike for the Indian Market2025-28-00612/7/2025
This paper presents a complete approach to the optimized design and analysis of a trach-focused quad bike suitable for the Indian market. The process of design integrates several analytical factors, including driver ergonomics, aesthetics, and strategic component placement, to establish optimum vehicle dimensions. The primary objective is to address the unique demands of the Indian terrain and user preferences through ensure comfort, functionality, and visual appeal. The selection process for tires and suspension geometry is precisely conducted with the advanced OptimumKinematics software. This optimization provides greater performance and stability that the vehicle can accurately manage a variety of road conditions. The space frame chassis of a vehicle’s core structure features, engineered to minimalize tubing and facilitate ease of fabrication, contributing to both structural integrity and weight reduction. A robust 600cc four-cylinder engine is selected that emphasizing an optimal
Thanikonda, Praveen Kumar, Shaik, Amjad, Tappa, Raju, Ratlavath, Ramu, Navar, Adarsh, Challa, Ajith Kumar
Feedforward Control of Clamping Force in Electronic Mechanical Brake System Based on Inertia Identification and Load Torque Observation2025-01-70511/31/2025
The braking system is an essential element for ensuring the safe operation of vehicles. This research investigates the influence of electronic mechanical brakes on the control performance of permanent magnet synchronous motors, with a particular focus on variations in the load torque and inertial load. This study addresses challenges such as delayed responses in the clamping force and diminished control accuracy. To mitigate these issues, a Luenberger load torque observer is utilized for the real-time identification of load torque. The identified load torque is subsequently converted into a compensation current, which is integrated into the current loop as a feed-forward compensation signal to enhance the control performance. Additionally, to reduce the impact of variations in inertial load on the overall control system, this study employs a model reference adaptive algorithm for the online identification of rotational inertia, with the identification results being fed back to the load
Wan, Xiaobo, Shang, Ruipeng, Li, Yingchun
Design of Electric Power Steering Control for Compensating the Torque Steer Effect due to Torque Vectoring Control10-09-02-00101/24/2025
The increased popularity of electric vehicles featuring distributed powertrains is enabling an easy and cost-effective implementation of torque vectoring. This is a renowned technique for controlling vehicle lateral dynamics having the objective of improving both vehicle handling and stability. Nevertheless, the application of torque vectoring at the front axle can increase the difficulty of usual driving tasks. This is because differential longitudinal forces at front tires generate a steering wheel torque, which can be badly perceived by the driver, up to the point of jeopardizing the benefits of having a torque vectoring control. The aim of this article is thus to study in detail the steering torque corruption caused by front axle torque vectoring for proposing some electric power steering control strategies compensating for this effect. Indeed, the electric power steering controllers developed in this study are designed based on the analytical derivation of the torque steer theory
Asperti, Michele, Vignati, Michele, Sabbioni, Edoardo
Tire Change Influence on Handling Performance2024-36-000412/20/2024
The tire is one of the components that is most influent on vehicle dynamics behavior and is a part that suffer wear and needs to be replaced. In this case what a doubt is always recurrent, keep the same tire or change the model or brand but keeping the sizes. Some vehicle owners want to change not only the worn-out tire but change its sizes for aesthetic proposals. There is a belief on the tire market if keeps the same outer diameter is acceptable. The proposal for this study is to compare the handling performance considering different sizes and models or brands of tires. For this study a vehicle modeled in multibody representing the vehicle mass inertias, suspension mechanisms kinematics and components dampers and stiffness will be the adopted tool. The constant radius and constant speed steady state maneuver defined by standard SAE J266 [1] was performed, on the virtual environment, changing the tire properties and comparing the key handling performance metrics as understeer gradient
Terra, Rafael Tedim, Chaves, Marilia, Santos, Alex Cardoso
Parametrized Twist Beam Suspension for Enhanced Ride and Handling: A Design Iteration Approach2024-28-018112/5/2024
The parametrized twist beam suspension is a pivotal component in the automotive industry, profoundly influencing the ride comfort and handling characteristics of vehicles. This study presents a novel approach to optimizing twist beam suspension systems by leveraging parametric design principles. By introducing a parameter-driven framework, this research empowers engineers to systematically iterate and fine-tune twist beam designs, ultimately enhancing both ride quality and handling performance. The paper outlines the theoretical foundation of parametrized suspension design, emphasizing its significance in addressing the intricate balance between ride comfort and dynamic stability. Through a comprehensive examination of key suspension parameters, such as twist beam profile, material properties, and attachment points, the study demonstrates the versatility of the parametric approach in tailoring suspension characteristics to meet specific performance objectives. To validate the
Pakala, Pradeep Kumar, Ganesh, Lingadalu
Real Time Vehicle State Estimation Using Error Map Function2024-28-026612/5/2024
The estimation of vehicle handling and control parameters in dynamic conditions is challenging due to errors and delays in real-time data logging with low-resolution onboard sensors. These issues significantly impact the performance of vehicle stability and control algorithms, particularly in vehicles under testing. This study presents error mapping concept parallel to statistical error method for real-time vehicle state estimation that addresses the limitations of low-resolution sensors with errors and delays in measured signal. In this study, a real-time (RT) model is developed and trained with in-house electric SUV to estimate yaw velocity and slip angle. The model leverages other measured signals available from the vehicle’s onboard sensor setup. It integrates an error and delay function with error predictive model to estimate the targeted parameter signal response in real time. The RT model introduces an error function method that enhances prediction accuracy by combining the
Kumar, Avinash, Asthana, Shivam, Rasal, Shraddhesh, M, Sudhan, Vellandi, Vikraman
Continuous Curvature Parking Path Planning for Unmanned Mining Trucks Using Transition Curves and Model Predictive Control02-18-01-000311/15/2024
Geometric methods based on Reeds–Shepp (RS) curves offer a practical approach for the parking path planning of unmanned mining truck, but discontinuous curvature can cause tire wear and road damage. To address this issue in mine scenario, a continuous curvature parking path planning method based on transition curve and model predictive control (MPC) is proposed for mine scenarios. Initially, according to the shovel position information issued by the cloud dispatching platform, a reference line is planned using RS curves. In order to mitigate the wear and tear of the tires and the damage to unstructured roads due to the in situ steering caused by the sudden change of the curvature, a transition curve consisting of clothoid–arc–clothoid that satisfies the kinematics of continuous vehicle steering is designed on the basis of RS curves to achieve the continuity of road curvature, which will contribute to the economy of tire and handling performance. The calculation of Fresnel integral
Zhang, Haosen, Chen, Qiushi, Wu, Guangqiang
Novel Approach to Optimize the Ride Handling Performance by Reducing Vehicle Development Time and Cost2024-28-004310/17/2024
The automobile industry strives to develop high-quality vehicles quickly that fulfill the buyer’s needs and stand out within the competition. Full utilization of simulation and Computer-Aided Engineering (CAE) tools can empower quick assessment of different vehicle concepts and setups without building physical models. This research focuses on optimizing vehicle ride and handling performance by utilizing a tuning specifications range. Traditional approaches to refining these aspects involve extensive physical testing, which consumes both time and resources. In contrast, our study introduces a novel methodology leveraging virtual Subjective Rating through driving simulators. This approach aims to significantly reduce tuning time and costs, consequently streamlining overall development expenditures. The core objective is to enhance vehicle ride and handling dynamics, ensuring a superior driving experience for end-users. By meticulously defining and implementing tuning specifications, we
Ganesh, Lingadalu
Enhancing Safety and Handling of Autonomous Vehicles in Simulated Traffic: A Co-Simulation Framework Using Multibody Dynamics and CARLA2024-28-002610/17/2024
In recent years, there has been an increased emphasis on autonomous driving technologies to improve vehicle road safety amidst rising traffic congestion and the complexities of intersection jaywalking and diverse road conditions. Therefore, improving the vehicle's handling ability is crucial for safe and efficient traffic navigation, particularly emphasising collision prevention and safety in unforeseen circumstances. Evaluating safety perspectives in such situations, the lane change event serves as an important measure for addressing the matter and forms the focus of this paper. However, for such new-age technology, conducting proving ground tests replicating urban conditions is a costly endeavour. Hence, simulation is a better approach, which can mimic real traffic conditions, develop control systems, and simulate vehicle handling behaviour all working together within a closed-loop system. An autonomous lane change manoeuvre event of a four-wheeled vehicle is created in a simulation
Mudaliyar, Ruthran, Karthikeyan, Vikram Raj, Gumma, Muralidhar, Gopakumar, Sreekanth
Integrated Control of Intelligent Vehicle Driving Stability Using Three-Dimensional Phase Space10-09-01-000210/16/2024
To enhance vehicle dynamic stability during driving, we developed a three-dimensional phase space model that incorporates the sideslip angle of center of mass, yaw rate, and lateral load transfer rate. This model enabled real-time evaluation and active control of vehicle stability. First, longitudinal and lateral controllers were implemented to ensure precise vehicle trajectory. Second, a hierarchical control strategy was designed to actively manage the desired sideslip angle, yaw rate, and roll angle based on the vehicle’s destabilizing conditions, thereby maintaining the vehicle within a stable state space. We simulated and tested the stability analysis methods and integrated control strategies for both cars and trucks under DLC (double lane change) and CDC (circular driving condition) scenarios using joint simulations with CarSim/TruckSim and Simulink. The proposed integrated stability control strategy, which combined MPC-based trajectory tracking with direct yaw moment control and
Lai, Fei, Xiao, Hao, Huang, Chaoqun
Personalized Design of Variable Transmission Ratio and Selection Switching Strategies Considering Drivers’ Steering Characteristics10-08-04-00289/14/2024
In order to meet the driving characteristics and needs of different types of drivers and to improve driving comfort and safety, this article designs personalized variable transmission ratio schemes based on the classification results of drivers’ steering characteristics and proposes a switching strategy for selecting variable transmission ratio schemes in response to changes in driver types. First, data collected from driving simulator experiments are used to classify drivers into three categories using the fuzzy C-means clustering algorithm, and the steering characteristics of each category are analyzed. Subsequently, based on the steering characteristics of each type of driver, suitable speed ranges, steering wheel travel, and yaw rate gain values are selected to design the variable transmission ratio, forming personalized variable transmission ratio schemes. Then, a switching strategy for variable transmission ratio schemes is designed, using a support vector machine to build a
Chen, Chen, Zheng, Hongyu, Zong, Changfu
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