A combined dynamics model for active roll stability control of ground vehicles

This paper presents a combined dynamics modeling methodology which can be used to establish a complex 4-DOF (degree of freedom) vehicle dynamics model for active roll stability control of ground vehicles. The methodology is based on setting up three coordinate systems centered on the ground, the vehicle roll center and CG (center of gravity) respectively. The complex vehicle dynamics model including longitudinal, lateral, yaw and roll motions is established by applying this methodology and simplifying a more complicated full vehicle dynamics model of previous work. A simulation is also made for validating this combined dynamics modeling methodology and the established vehicle model.