A Universal Dynamic and Kinematic Model of Vehicles

Motion control of a vehicle requires a model that can present the relationship between forces applied to the vehicle, acceleration and velocity in given direction, slip ratio of individual wheels, road condition and many more. By using the dynamics of rigid body and the Magic Formula in Pacejka's tire model, we propose in this paper a vehicle representation that include both dynamic and kinematic models of vehicle. The validity of the model is demonstrated by simulation in Matlab/Simulink. This model can be served as powerful tool for motion control of vehicles and of electric vehicles in particular.