Vehicle Dynamics Model for Simulation on a Microcomputer 891238

Equations of motion are derived for a two axle, 4 wheeled vehicle pulling a one axle, 2 wheeled trailer. Linear and nonlinear tire side force models are discussed. Examples of computer solutions of the equations are presented for both single vehicle motion and articulated vehicle motion. A comparison of tractor semitrailer maneuvers with experimental data shows good results.