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The Science of Vehicle Dynamics pp 271–290Cite as

Handling with Roll Motion

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Abstract

The vehicle orientation is defined by means of the yaw-pitch-roll elemental rotations. Then, to define the vehicle position, a careful analysis of what happens when the vehicle rolls is performed. The key result is the definition of the Vehicle Invariant Point (VIP) as the best option for monitoring the vehicle position, and also for defining the lateral velocity and acceleration. VIP allows for a simple and systematic analysis of the vehicle three-dimensional dynamics. Among other things, it is shown that the well known roll-axis, as the axis about which the vehicle rolls, is a nonsense.

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Notes

  1. 1.

    Rotation matrices are a tool to represent finite rotation. As well known, the product of matrices is not commutative, in general.

  2. 2.

    More precisely, the axis must share the same direction. The origin can be different.

  3. 3.

    Classical Euler angles use the sequence (3,1,3).

  4. 4.

    In this chapter the symbol q is a component of Ω. Therefore, we use the symbol d for the height of the no-roll center Q (Fig. 9.1).

  5. 5.

    The components p, q and r of Ω cannot be given, in general, as time derivatives of an angle.

  6. 6.

    In Fig. 9.5 it is also quite interesting to note the camber variations due to pure roll in each type of suspension. This topic has been addressed in Sect. 3.8.3.

  7. 7.

    The use of the center of mass G to represent the vehicle position in Chaps. 3–7 was arbitrary as well.

References

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Authors and Affiliations

  1. Dip. di Ingegneria Civile e Industriale, Università di Pisa, Pisa, Italy

    Massimo Guiggiani

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  1. Massimo Guiggiani
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© 2014 Springer Science+Business Media Dordrecht

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Guiggiani, M. (2014). Handling with Roll Motion. In: The Science of Vehicle Dynamics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-8533-4_9

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  • DOI: https://doi.org/10.1007/978-94-017-8533-4_9

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-017-8532-7

  • Online ISBN: 978-94-017-8533-4

  • eBook Packages: EngineeringEngineering (R0)

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