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Syllabus for

Academic year
TME102 - Vehicle dynamics, advanced  
Fordonsdynamik, fortsättningskurs
Syllabus adopted 2020-11-06 by Head of Programme (or corresponding)
Owner: MPAUT
7,5 Credits
Grading: TH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail
Education cycle: Second-cycle
Major subject: Automation and Mechatronics Engineering, Mechanical Engineering, Engineering Physics

Teaching language: English
Application code: 06119
Open for exchange students: Yes
Block schedule: B
Maximum participants: 40

Module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0111 Examination, part A 4,5 c Grading: TH   4,5 c   31 May 2021 am J,  09 Oct 2020 am J,  19 Aug 2021 am J
0211 Project, part B 3,0 c Grading: TH   3,0 c    

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Mats Jonasson

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General entry requirements for Master's level (second cycle)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Specific entry requirements

English 6 (or by other approved means with the equivalent proficiency level)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Course specific prerequisites

MMF062 Vehicle dynamics and/or MMA092 Rigid body dynamics
ERE033 Control theory or similar


In this course the focus is put on the understanding of the coupled planar dynamics of road vehicles during steering and braking (or driving) including various non-linear effects from tires, suspension etc

Learning outcomes (after completion of the course the student should be able to)

* Identify and discuss factors (e.g. load transfer) that cause interactions between the different vehicle subsystems, e.g. braking and steering.

* Develop and implement computer models of vehicle dynamics behavior and critically analyze results from numerical simulations.

* Identify and mathematically characterize linear and nonlinear tire behavior and the influence of this behavior on vehicle performance using Handling Diagram.

* Identify suspension and tire characteristics influencing vehicle chassis performance and stability in both low and high-speed manoeuvres, under both steady-state and transient manoeuvres, with the ability to mathematically justify how changes in vehicle parameters (e.g. mass or weight distribution) can be stabilizing or destabilizing.

* Understand how to extend the mathematical analysis of the passenger car to heavy vehicles.

* Understand and characterize the change in vehicle performance and vehicle/roadway interaction due to automated subsystems such as e.g. ABS, ESP and Rear Wheel Steering.

* Construct specifications for vehicle control systems.

The course contributes to the United Nations sustainable development goals regarding Sustainable cities and communities samhällenssss(SDG 13) and Climate action (SDG 11) in the sense that vehicle dynamics and control are important aspects both for vehicle safety and energy efficiency.


The mathematics and mechanics concepts and notations used in the course are reviewed.
The tire and vehicle models suitable for analysing the coupled dynamics during steering and
braking or driving are developed and then used to evaluate handling performance in various
manoeuvres. Some aspects about vehicle stability and the principles, basic implementation
and specifications for automated vehicle control systems are included. At the end the challenges
posed by heavy vehicles are discussed but not covered in detail.

Preliminaries (covered during the course)
Vehicle Dynamics Terminology & Notation
Fundamental Vehicle Dynamics
Relative Planar Motion, Rigid Body Kinematics & Dynamics (Newton 2.5D) 1
Linearization, Linear Analysis (Eigenvalues, Transfer Functions, Bode Plots)
Linear and Non-Linear Stability Concepts
Basic Signal Processing and Control Theory

Vehicle Modeling for Planar Dynamics
Tire Properties Influence on Vehicle Dynamics
Tire Forces/Moments & Kinematics
Modified SAE Tire Axes & Terminology
Introduction to Tire Modeling (Magic Formula)
Definition of Effective Tire & Axle Characteristics
The Planar Rigid One Track Model (Bicycle Model)
Suspension and Steering Effects
The Planar Two Track Model Vehicle
Model Block Diagram

Tire Modeling
Basic Tire Modeling Consideration
Brush Tire Model
Steady State Lateral/Longitudinal Slip Force Generation
Interaction between Lateral Slip and Longitudinal Slip (Combined Slip)
Transient Tire Forces
Review of Industry Standard Tire Models (Magic Formula, etc)

Vehicle Handling and Stability
Steady State Cornering Stability Analysis
Handling Diagram
Quasi Steady State Cornering (Moderate Driving/Braking Milliken Moment Method
Straight Line Braking Stability Analysis
Transient Cornering (Step Steer, Throttle On/Off)
Dynamic Cornering (Double Lane Change, Sine with Dwell)
Principles for ABS and ESP

Heavy Vehicles
Steady State Cornering of Single Unit Heavy Trucks
Effect of Tandem Axles and Dual Tires
Equivalent Wheelbase Handling Diagram of Complex Vehicles
V-Handling & R-Handling Curves
Steady State Cornering of a Tractor-Semitrailer
Tractor Jackknife & Trailer Swing

Vehicle Stability Control
Vehicle Parameters and States Estimation
Road and Basic Driver Models Principles
Basic Powertrain Modeling
Brake System Modeling (Saturation and Delays)
Basic Implementation and Specifications for Vehicle Control Systems, e.g.:
- Anti-lock Braking System (ABS)
- Electronic Stability Control (ESC)


- Lectures
- Problem solving sessions
- Assignments and/or Hand-ins


Lecture notes

  • Rajesh Rajamani, Vehicle Dynamics and Control, Springer Verlag, 2012
  • Jacobson et al, Vehicle Dynamics Compendium, 2020.
  • Pacejka, H.B., Tyre and Vehicle Dynamics, 2002.
  • Abe M., Vehicle Handling Dynamics, 2009.
  • Kiencke, U. and Nielsen, L., Automotive Control Systems, 2005
  • Matlab/Simulink Users Guide, Mathworks Inc

Examination including compulsory elements

* Marked assignment reports and/or hand-ins
* Graded examination with problem solving and descriptive questions

Page manager Published: Mon 28 Nov 2016.