A mathematical model for vehicle steering control

This paper develops a nonlinear three degree-of-freedom mathematical vehicle model. The model includes the dynamical characteristics of lateral, longitudinal and yaw motions of the vehicle. Additionally, control and observed variables are identified. This mathematical model can be useful for the development of an autonomous steering controller whose purpose is to improve the driver´s vehicle control when subjected to selected extreme road conditions. Simulations are performed on the mathematical model with disturbances which mimic icy road conditions and the vehicles dynamics are observed. The simulation results are included