Martin Meywerk is a Professor and the Head of the Institute of Automotive and Powertrain Engineering at Helmut-Schmidt-University (University of the Federal Armed Forces Hamburg) in Germany. He teaches courses in vehicle dynamics, automotive mechatronics, computer aided engineering and optimization. His research focuses on dynamic behaviour of vehicles and tyres, driving simulators and CAE-methods in automotive engineering.Previously he has worked on research projects with Volkswagen, BMW, Daimler, Bast and other companies. He is the course instructor for a Massive Online Open Course (MOOC) in vehicle dynamics.

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• Foreword xiSeries Preface xiiiPreface xvList of Abbreviations and Symbols xvii1 Introduction 11.1 Introductory Remarks 31.2 Motion of the Vehicle 41.3 Questions and Exercises 82 The Wheel 112.1 Equations of Motion of the Wheel 112.2 Wheel Resistances 142.2.1 Rolling Resistance 142.2.2 Aquaplaning 182.2.3 Bearing Resistance 192.2.4 Toe-In/Toe-Out Resistance 192.3 Tyre Longitudinal Force Coefficient, Slip 202.4 Questions and Exercises 243 Driving Resistances, Power Requirement 273.1 Aerodynamic Drag 273.2 Gradient Resistance 293.3 Acceleration Resistance 293.4 Equation of Motion for the Entire Vehicle 323.5 Performance 343.6 Questions and Exercises 394 Converters 434.1 Clutch, Rotational Speed Converter 454.2 Transmission, Torque Converter 484.3 Questions and Exercises 545 Driving Performance Diagrams, Fuel Consumption 575.1 Maximum Speed without Gradient 605.2 Gradeability 615.3 Acceleration Capability 615.4 Fuel Consumption 635.5 Fuel Consumption Test Procedures 685.6 Questions and Exercises 706 Driving Limits 736.1 Equations of Motion 746.2 Braking Process 796.3 Braking Rate 846.4 Questions and Exercises 917 Hybrid Powertrains 937.1 Principal Functionalities 937.2 Topologies of Hybrid Powertrains 997.3 Regenerative Braking and Charging 1017.4 Questions and Exercises 1068 Adaptive Cruise Control 1078.1 Components and Control Algorithm 1078.2 Measurement of Distances and Relative Velocities 1128.3 Approach Ability 1178.4 Questions and Exercises 1189 Ride Dynamics 1219.1 Vibration Caused by Uneven Roads 1249.1.1 Damped Harmonic Oscillator 1249.1.2 Assessment Criteria 1289.1.3 Stochastic Irregularities 1309.1.4 Conflict between Safety and Comfort 1329.2 Oscillations of Powertrains 1449.2.1 Torsional Oscillators 1449.2.2 Centrifugal Pendulum Vibration Absorbers 1479.3 Examples 1519.4 Questions and Exercises 15210 Vehicle Substitute Models 15510.1 Two-mass Substitute System 15510.2 Two-axle Vehicle, Single-track Excitation 15810.3 Non-linear Characteristic Curves 16510.4 Questions and Exercises 16711 Single-track Model, Tyre Slip Angle, Steering 16911.1 Equations of Motion of the Single-track Model 16911.2 Slip Angle 17711.3 Steering 18111.4 Linearized Equations of Motion of the Single-track Model 18511.5 Relationship between Longitudinal Forces and Lateral Forces in the Contact Patch 18811.6 Effect of Differentials when Cornering 18911.7 Questions and Exercises 19112 Circular Driving at a Constant Speed 19312.1 Equations 19312.2 Solution of the Equations 19512.3 Geometric Aspects 19712.4 Oversteering and Understeering 20112.5 Questions and Exercises 20513 Dynamic Behaviour 20713.1 Stability of Steady-state Driving Conditions 20713.2 Steering Behaviour 21013.3 Crosswind Behaviour 21313.4 Questions and Exercises 21614 Influence of Wheel Load Transfer 21714.1 Wheel Load Transfer without Considering Vehicle Roll 21714.2 Wheel Load Transfer Considering Vehicle Roll 22114.3 Questions and Exercises 22815 Toe-in/Toe-out, Camber and Self-steering Coefficient 22915.1 Toe-in/Toe-out, Camber 22915.2 Questions and Exercises 23316 Suspension Systems 23516.1 Questions and Exercises 24517 Torque and Speed Converters 24717.1 Speed Converters, Clutches 24717.2 Transmission 25217.3 Questions and Exercises 25818 Shock Absorbers, Springs and Brakes 25918.1 Shock Absorbers 25918.2 Ideal Active Suspension and Skyhook Damping 26418.2.1 Ideal Active Suspension 26418.2.2 Skyhook Dampers 26718.3 Suspension Springs 26918.4 Brake Systems 27718.5 Questions and Exercises 28119 Active Longitudinal and Lateral Systems 28319.1 Main Components of ABS 28319.2 ABS Operations 28719.3 Build-up Delay of Yaw Moment 29019.4 Traction Control System 29319.5 Lateral Stability Systems 29419.6 Hydraulic Units for ABS and ESP 29619.7 Active Steering System 29719.8 Questions and Exercises 29820 Multi-body Systems 30120.1 Kinematics of Rigid Bodies 30220.2 Kinetic Energy of a Rigid Body 30520.3 Components of Multi-body Systems 30920.4 Orientation of Rigid Bodies 31220.5 Derivation and Solution of the Equations 31520.5.1 Derivation of the Equations 31520.5.2 Solution of Equations 31620.6 Applications of MBS 31720.7 Questions and Exercises 322Glossary 323References 329Index 331

Martin Meywerk is a Professor and the Head of the Institute of Automotive and Powertrain Engineering at Helmut-Schmidt-University (University of the Federal Armed Forces Hamburg) in Germany. He teaches courses in vehicle dynamics, automotive mechatronics, computer aided engineering and optimization. His research focuses on dynamic behaviour of vehicles and tyres, driving simulators and CAE-methods in automotive engineering.Previously he has worked on research projects with Volkswagen, BMW, Daimler, Bast and other companies. He is the course instructor for a Massive Online Open Course (MOOC) in vehicle dynamics.

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• Foreword xiSeries Preface xiiiPreface xvList of Abbreviations and Symbols xvii1 Introduction 11.1 Introductory Remarks 31.2 Motion of the Vehicle 41.3 Questions and Exercises 82 The Wheel 112.1 Equations of Motion of the Wheel 112.2 Wheel Resistances 142.2.1 Rolling Resistance 142.2.2 Aquaplaning 182.2.3 Bearing Resistance 192.2.4 Toe-In/Toe-Out Resistance 192.3 Tyre Longitudinal Force Coefficient, Slip 202.4 Questions and Exercises 243 Driving Resistances, Power Requirement 273.1 Aerodynamic Drag 273.2 Gradient Resistance 293.3 Acceleration Resistance 293.4 Equation of Motion for the Entire Vehicle 323.5 Performance 343.6 Questions and Exercises 394 Converters 434.1 Clutch, Rotational Speed Converter 454.2 Transmission, Torque Converter 484.3 Questions and Exercises 545 Driving Performance Diagrams, Fuel Consumption 575.1 Maximum Speed without Gradient 605.2 Gradeability 615.3 Acceleration Capability 615.4 Fuel Consumption 635.5 Fuel Consumption Test Procedures 685.6 Questions and Exercises 706 Driving Limits 736.1 Equations of Motion 746.2 Braking Process 796.3 Braking Rate 846.4 Questions and Exercises 917 Hybrid Powertrains 937.1 Principal Functionalities 937.2 Topologies of Hybrid Powertrains 997.3 Regenerative Braking and Charging 1017.4 Questions and Exercises 1068 Adaptive Cruise Control 1078.1 Components and Control Algorithm 1078.2 Measurement of Distances and Relative Velocities 1128.3 Approach Ability 1178.4 Questions and Exercises 1189 Ride Dynamics 1219.1 Vibration Caused by Uneven Roads 1249.1.1 Damped Harmonic Oscillator 1249.1.2 Assessment Criteria 1289.1.3 Stochastic Irregularities 1309.1.4 Conflict between Safety and Comfort 1329.2 Oscillations of Powertrains 1449.2.1 Torsional Oscillators 1449.2.2 Centrifugal Pendulum Vibration Absorbers 1479.3 Examples 1519.4 Questions and Exercises 15210 Vehicle Substitute Models 15510.1 Two-mass Substitute System 15510.2 Two-axle Vehicle, Single-track Excitation 15810.3 Non-linear Characteristic Curves 16510.4 Questions and Exercises 16711 Single-track Model, Tyre Slip Angle, Steering 16911.1 Equations of Motion of the Single-track Model 16911.2 Slip Angle 17711.3 Steering 18111.4 Linearized Equations of Motion of the Single-track Model 18511.5 Relationship between Longitudinal Forces and Lateral Forces in the Contact Patch 18811.6 Effect of Differentials when Cornering 18911.7 Questions and Exercises 19112 Circular Driving at a Constant Speed 19312.1 Equations 19312.2 Solution of the Equations 19512.3 Geometric Aspects 19712.4 Oversteering and Understeering 20112.5 Questions and Exercises 20513 Dynamic Behaviour 20713.1 Stability of Steady-state Driving Conditions 20713.2 Steering Behaviour 21013.3 Crosswind Behaviour 21313.4 Questions and Exercises 21614 Influence of Wheel Load Transfer 21714.1 Wheel Load Transfer without Considering Vehicle Roll 21714.2 Wheel Load Transfer Considering Vehicle Roll 22114.3 Questions and Exercises 22815 Toe-in/Toe-out, Camber and Self-steering Coefficient 22915.1 Toe-in/Toe-out, Camber 22915.2 Questions and Exercises 23316 Suspension Systems 23516.1 Questions and Exercises 24517 Torque and Speed Converters 24717.1 Speed Converters, Clutches 24717.2 Transmission 25217.3 Questions and Exercises 25818 Shock Absorbers, Springs and Brakes 25918.1 Shock Absorbers 25918.2 Ideal Active Suspension and Skyhook Damping 26418.2.1 Ideal Active Suspension 26418.2.2 Skyhook Dampers 26718.3 Suspension Springs 26918.4 Brake Systems 27718.5 Questions and Exercises 28119 Active Longitudinal and Lateral Systems 28319.1 Main Components of ABS 28319.2 ABS Operations 28719.3 Build-up Delay of Yaw Moment 29019.4 Traction Control System 29319.5 Lateral Stability Systems 29419.6 Hydraulic Units for ABS and ESP 29619.7 Active Steering System 29719.8 Questions and Exercises 29820 Multi-body Systems 30120.1 Kinematics of Rigid Bodies 30220.2 Kinetic Energy of a Rigid Body 30520.3 Components of Multi-body Systems 30920.4 Orientation of Rigid Bodies 31220.5 Derivation and Solution of the Equations 31520.5.1 Derivation of the Equations 31520.5.2 Solution of Equations 31620.6 Applications of MBS 31720.7 Questions and Exercises 322Glossary 323References 329Index 331

Martin Meywerk is a Professor and the Head of the Institute of Automotive and Powertrain Engineering at Helmut-Schmidt-University (University of the Federal Armed Forces Hamburg) in Germany. He teaches courses in vehicle dynamics, automotive mechatronics, computer aided engineering and optimization. His research focuses on dynamic behaviour of vehicles and tyres, driving simulators and CAE-methods in automotive engineering.Previously he has worked on research projects with Volkswagen, BMW, Daimler, Bast and other companies. He is the course instructor for a Massive Online Open Course (MOOC) in vehicle dynamics.

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• Foreword xiSeries Preface xiiiPreface xvList of Abbreviations and Symbols xvii1 Introduction 11.1 Introductory Remarks 31.2 Motion of the Vehicle 41.3 Questions and Exercises 82 The Wheel 112.1 Equations of Motion of the Wheel 112.2 Wheel Resistances 142.2.1 Rolling Resistance 142.2.2 Aquaplaning 182.2.3 Bearing Resistance 192.2.4 Toe-In/Toe-Out Resistance 192.3 Tyre Longitudinal Force Coefficient, Slip 202.4 Questions and Exercises 243 Driving Resistances, Power Requirement 273.1 Aerodynamic Drag 273.2 Gradient Resistance 293.3 Acceleration Resistance 293.4 Equation of Motion for the Entire Vehicle 323.5 Performance 343.6 Questions and Exercises 394 Converters 434.1 Clutch, Rotational Speed Converter 454.2 Transmission, Torque Converter 484.3 Questions and Exercises 545 Driving Performance Diagrams, Fuel Consumption 575.1 Maximum Speed without Gradient 605.2 Gradeability 615.3 Acceleration Capability 615.4 Fuel Consumption 635.5 Fuel Consumption Test Procedures 685.6 Questions and Exercises 706 Driving Limits 736.1 Equations of Motion 746.2 Braking Process 796.3 Braking Rate 846.4 Questions and Exercises 917 Hybrid Powertrains 937.1 Principal Functionalities 937.2 Topologies of Hybrid Powertrains 997.3 Regenerative Braking and Charging 1017.4 Questions and Exercises 1068 Adaptive Cruise Control 1078.1 Components and Control Algorithm 1078.2 Measurement of Distances and Relative Velocities 1128.3 Approach Ability 1178.4 Questions and Exercises 1189 Ride Dynamics 1219.1 Vibration Caused by Uneven Roads 1249.1.1 Damped Harmonic Oscillator 1249.1.2 Assessment Criteria 1289.1.3 Stochastic Irregularities 1309.1.4 Conflict between Safety and Comfort 1329.2 Oscillations of Powertrains 1449.2.1 Torsional Oscillators 1449.2.2 Centrifugal Pendulum Vibration Absorbers 1479.3 Examples 1519.4 Questions and Exercises 15210 Vehicle Substitute Models 15510.1 Two-mass Substitute System 15510.2 Two-axle Vehicle, Single-track Excitation 15810.3 Non-linear Characteristic Curves 16510.4 Questions and Exercises 16711 Single-track Model, Tyre Slip Angle, Steering 16911.1 Equations of Motion of the Single-track Model 16911.2 Slip Angle 17711.3 Steering 18111.4 Linearized Equations of Motion of the Single-track Model 18511.5 Relationship between Longitudinal Forces and Lateral Forces in the Contact Patch 18811.6 Effect of Differentials when Cornering 18911.7 Questions and Exercises 19112 Circular Driving at a Constant Speed 19312.1 Equations 19312.2 Solution of the Equations 19512.3 Geometric Aspects 19712.4 Oversteering and Understeering 20112.5 Questions and Exercises 20513 Dynamic Behaviour 20713.1 Stability of Steady-state Driving Conditions 20713.2 Steering Behaviour 21013.3 Crosswind Behaviour 21313.4 Questions and Exercises 21614 Influence of Wheel Load Transfer 21714.1 Wheel Load Transfer without Considering Vehicle Roll 21714.2 Wheel Load Transfer Considering Vehicle Roll 22114.3 Questions and Exercises 22815 Toe-in/Toe-out, Camber and Self-steering Coefficient 22915.1 Toe-in/Toe-out, Camber 22915.2 Questions and Exercises 23316 Suspension Systems 23516.1 Questions and Exercises 24517 Torque and Speed Converters 24717.1 Speed Converters, Clutches 24717.2 Transmission 25217.3 Questions and Exercises 25818 Shock Absorbers, Springs and Brakes 25918.1 Shock Absorbers 25918.2 Ideal Active Suspension and Skyhook Damping 26418.2.1 Ideal Active Suspension 26418.2.2 Skyhook Dampers 26718.3 Suspension Springs 26918.4 Brake Systems 27718.5 Questions and Exercises 28119 Active Longitudinal and Lateral Systems 28319.1 Main Components of ABS 28319.2 ABS Operations 28719.3 Build-up Delay of Yaw Moment 29019.4 Traction Control System 29319.5 Lateral Stability Systems 29419.6 Hydraulic Units for ABS and ESP 29619.7 Active Steering System 29719.8 Questions and Exercises 29820 Multi-body Systems 30120.1 Kinematics of Rigid Bodies 30220.2 Kinetic Energy of a Rigid Body 30520.3 Components of Multi-body Systems 30920.4 Orientation of Rigid Bodies 31220.5 Derivation and Solution of the Equations 31520.5.1 Derivation of the Equations 31520.5.2 Solution of Equations 31620.6 Applications of MBS 31720.7 Questions and Exercises 322Glossary 323References 329Index 331