Abstract
This paper describes a 14 degrees-of-freedom mathematical model that was developed to analyze and predict the handling dynamics of a 4-wheel vehicle. The system of nonlinear equations was programmed and numerically solved on the digital computer where the inputs are Ackerman steer angle to front and/or rear wheels and driving or braking torques on any or all wheels. The equations of motion for the sprung and unsprung masses were derived using Lagrange's equation.