The 3-DoF bicycle model with the simplified piecewise linear tire model

The paper proposed a 3-DoF bicycle model, that considering the longitudinal acceleration or deceleration motion, the lateral motion and the yaw motion of the vehicle. A simplified piecewise tire model is proposed to improve the precise of the tire force. The bicycle model uses the wheel rolling speed information from the real car that is usually used in the ABS or other active safety devices. The simulation results show that compared with the 14-DoF full car model, the proposed bicycle model is good and can be used for the chassis control.