ITI Vehicle Dynamics

1. Enviroment model :
-  Test Track (vehicle environment)
- global coordinate System of the whole environment(x,y) & local road coordinate system of the test track(s,t).
- modelling of the test track profile

• Road Model :
• Transformation block : Input(s,t) output(x,y)
• Road properties block : Input(x,y) output(z,Friction)
• Yaw Angle Block : Input(x,y) output( yaw angle)
• Driver Model
• Pedestrain movement controller
• Scenario manager

2. Vehicle Dynamics:

• Force transformation 
• Force of mass              :Input(road inclination angle, yaw angle) Output (force of mass in x,y,z)
• Force of aerodynamics : Input(velocity,slip angle) Output(aerodynamics force )
• Angular momentum       : Input(velocity,slip angle,radius of rotation) Output(angular momentum in x.y)
• Force in X Direction     : Input(force in x wheel,force in x from mass,angular momentum , force in air) Output( force on CG in x)
• Force in Y Direction     : Input(force in y wheel,force in mass y,angular momentum in y),Output(force acting on CG)
• Force in Z Direction     : Input(force in z wheel,force in mass z,angular momentum in z),Output(force acting on CG)
• Moment X axis           : Input(force in z wheel,y wheel,hight front left,front right, rear left ,rear right) Output ( moment x axis)
• Moment Y axis           : Input(force in z wheel,x wheel,hight front left,front right, rear left ,rear right) Output ( moment y axis)
• Steering (Ackermann) : Input(steering angle) ,( Angle front left, front right),(Ackermann radius)
• Horizontal vehicle dynamics :
• Vertical vehicle dynamics :