Vehicle Dynamics

Winter 2006
CEE 320

CEE 320
Steve Muench
 Outline

1. Resistance
a. Aerodynamic
b. Rolling
c. Grade
2. Tractive Effort
3. Acceleration
4. Braking Force
5. Stopping Sight Distance (SSD)
Winter 2006
CEE 320
 Main Concepts

Resistance
Tractive effort
Vehicle acceleration
Braking
Stopping distance

F ma Ra Rrl Rg
Winter 2006
CEE 320
 Resistance

Resistance is defined as the force impeding

vehicle motion
1. What is this force?
2. Aerodynamic resistance
3. Rolling resistance
4. Grade resistance

F ma Ra Rrl Rg
Winter 2006
CEE 320
 Aerodynamic Resistance Ra

Composed of:
1. Turbulent air flow around vehicle body (85%)
2. Friction of air over vehicle body (12%)
3. Vehicle component resistance, from radiators
and air vents (3%)

Ra C D A f V 2
2

PRa C D A f V 3

2
Winter 2006

ft lb
CEE 320

1 hp 550
from National Research Council Canada sec
 Rolling Resistance Rrl

Composed primarily of
1. Resistance from tire deformation (90%)
2. Tire penetration and surface compression ( 4%)
3. Tire slippage and air circulation around wheel ( 6%)
4. Wide range of factors affect total rolling resistance
5. Simplifying approximation:
Rrl f rlW
V
PR rl f rlWV f rl 0.011
147
Winter 2006

ft lb
CEE 320

1 hp 550
sec
 Grade Resistance Rg

Composed of
Gravitational force acting on the vehicle

Rg W sin g g
For small angles, sin g tan g
Rg W tan g Rg

tan g G
g W
Rg WG
Winter 2006
CEE 320
 Available Tractive Effort

The minimum of:

1. Force generated by the engine, Fe
2. Maximum value that is a function of the
vehicles weight distribution and road-tire
interaction, Fmax

Available tractive effort min Fe , Fmax

Winter 2006
CEE 320
 Tractive Effort Relationships
Winter 2006
CEE 320
 Engine-Generated Tractive Effort
Fe = Engine generated tractive effort
reaching wheels (lb)
Force
Me = Engine torque (ft-lb)
M e 0 d
Fe 0 = Gear reduction ratio

r d = Driveline efficiency
r = Wheel radius (ft)

Power
ft lb torque ft lb engine rpm
hp 550 2
sec 550 sec
60
min
Winter 2006
CEE 320
 Vehicle Speed vs. Engine Speed

2rne 1 i
V
0

V = velocity (ft/s)
r = wheel radius (ft)
ne = crankshaft rps
i = driveline slippage
0 = gear reduction ratio
Winter 2006
CEE 320
 Typical Torque-Power Curves
Winter 2006
CEE 320
 Maximum Tractive Effort

W
lr f rl h
Front Wheel Drive Vehicle Fmax L
h
1
L

Rear Wheel Drive Vehicle W

l f rl h
f

Fmax L
h
1
L
What about 4WD?
Winter 2006
CEE 320
 Diagram
R
a
h

R ma
rlf

h
W W
f
F
bf g
lf
R
rlr

lr W
L r F
br
Winter 2006

g
CEE 320
 Vehicle Acceleration

Governing Equation

F R m ma

Mass Factor
(accounts for inertia of vehicles rotating parts)

m 1.04 0.0025 02
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CEE 320
 Example
A 1989 Ford 5.0L Mustang Convertible starts on a flat grade from a dead
stop as fast as possible. Whats the maximum acceleration it can
achieve before spinning its wheels? = 0.40 (wet, bad pavement)

1989 Ford 5.0L Mustang Convertible

Torque 300 @ 3200 rpm

Curb Weight 3640
Weight Distribution Front 57% Rear 43%
Wheelbase 100.5 in
Tire Size P225/60R15
Gear Reduction Ratio 3.8
Driveline efficiency 90%
Center of Gravity 20 inches high
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CEE 320
 Braking Force

Front axle W lr h f rl
Fbf max
L

Rear axle
W l f h f rl
Fbr max
L
Winter 2006
CEE 320
 Braking Force

l r h f rl front
Ratio BFR
l f h f rl rear

g max
Efficiency b

Winter 2006
CEE 320
 Braking Distance
b V12 V22
Theoretical S
ignoring air resistance 2 g b f rl sin g

Practical V12 V22 For grade = 0

d V12 V22
a d
2 g G 2a
Perception g

Total
d p V1t p
Winter 2006

ds d d p
CEE 320
 Stopping Sight Distance (SSD)

Worst-case conditions
Poor driver skills
Low braking efficiency
Wet pavement
Perception-reaction time = 2.5 seconds
Equation
2
V1
SSD V1t r
a
2 g G
g
Winter 2006
CEE 320
 Stopping Sight Distance (SSD)

from ASSHTO A Policy on Geometric Design of Highways and Streets, 2001

Note: this table assumes level grade (G = 0)

Winter 2006
CEE 320
 SSD Quick and Dirty
1. Acceleration due to gravity, g = 32.2 ft/sec2
2. There are 1.47 ft/sec per mph
3. Assume G = 0 (flat grade)

d
V12 V22

1.47 V12 0

1.47 2

1
V 1.075
2 V2
1.075
V2
2 g a g G 2 32.211 .2 32.2 0 2 11 .2 11 .2 a
d p 1.47 V1 t p 1.47Vt p

V2
d s 1.075 1.47Vt p
a
V = V1 in mph
Winter 2006

a = deceleration, 11.2 ft/s2 in US customary units

CEE 320

tp = Conservative perception / reaction time = 2.5 seconds

CEE 320
Winter 2006
 Primary References

Mannering, F.L.; Kilareski, W.P. and Washburn, S.S. (2005).

Principles of Highway Engineering and Traffic Analysis, Third
Edition). Chapter 2

American Association of State Highway and Transportation

Officals (AASHTO). (2001). A Policy on Geometric Design of
Highways and Streets, Fourth Edition. Washington, D.C.
Winter 2006
CEE 320