UNIVERSITY OF CALIFORNIA AT BERKELEY

Department of Mechanical Engineering

ME 131 Vehicle Dynamics and Control

Spring 2010

Prerequisite: Math 53, 54, Physics 7A-7B. Programming (E7) Ordinary differential
equations (Math 1B, Math 54) Elementary linear algebra (M54), or permission of
instructor

Location: 1165 Etcheverry Hall

Instructor: Karl Hedrick, 5104 E.H., khedrick@me.berkeley.edu
Office hours: Tu, Th 2:15-3:15

Class URL: http://me.berkeley.edu/ME131/

GSI: Andrew Gray, ajgray@berkeley.edu

Office hours: TBA

Lecture: Tu Thu 12:30-2:00

Computer Laboratory: Room 2109 , MatLab and CarSim (24 seats)

Text: Vehicle Dynamics and Control, R. Rajamani, Springer, 2006

References: 1. Theory of Ground Vehicles, J.Y. Wong, J. Wiley, 1993

2. Fundamentals of Vehicle Dynamics, T. Gillespie, SAE, 1992
The Automobile: Technology and Science, JD. Powell & R.P. Brennan,
Prentice Hall, 1988
3. Automotive Handbook, Robert Bosch GmbH, 2007

Grading Scheme:

10 Homework sets 50%

1 Term project 50%
 ME 131 Vehicle Dynamics and Control
Tentative Lecture Schedule

Numbers indicate week. Letters indicate lecture. Numbers inside parenthesis indicate
reading assignments in the text.

1. Course overview and dynamics review

(a) Introduction. Course outline.

(b) Rigid Body Dynamics (Text 2.4, notes)
(c) Feedback control systems

2. Simulation/numerical methods & Lateral Dynamics I

(a) Numerical integration methods

(b) Matlab, CarSim (class notes)
(c) Lateral Dynamics I (Text chapter 2)
- Bicycle model, steady state cornering
- Use of error coordinates

3. Lateral Dynamics II

(a) understeer/oversteer (Text chapter2)

(b) Transient behavior (class notes)
(c) Load transfer (class notes)

4. Power train Modeling for Control I

(a) Longitudinal dynamics (Text chapter 4)

(b) Driveline dynamics (Text chapter 4)

5. Power train Modeling for Control II.

(a) Spark Ignition Engines/Diesel Engines. (Text chapter 9)

(b) Combined Longitudinal/Lateral Dynamics (Text chapter 8.2)

6. Vehicle Control Systems I

(a) Steering Control for Automated lane Following (Text chapter 3)

(a) Introduction to Longitudinal Control Systems (Text chapter 5)

7. Vehicle Control Systems II

 (a) Anti-Lock Brakes (ABS). (Text chapter 5.6)
(b) Adaptive Cruise Control Systems I. (Text chapter 6)

8. Vehicle Control Systems III.

(a) Adaptive Cruise Control Systems II. (Text chapter 6)

(b) Electronic Stability Control Systems I. (Text chapter 8)

9. Vehicle Control Systems IV.

(a) Electronic Stability Control Systems II (Text chapter 8)

-Differential braking, steer-by-wire, active torque distribution

10. Active and Semi-active Suspensions For Ride Quality I

(a) passive suspensions ( Text chapter 10)

(b) active suspensions (Text chapter 11)

11. Active and Semi-active Suspensions For Ride Quality II

(a) semi-active suspensions (Text Chapter 12)

12. Lateral and Longitudinal Tire Forces

(a) Introduction to tire forces, small slip ratios (Text chapter 13)
(b) Combined Lateral/Longitudinal tire forces. (Text chapter 13)
(c ) Magic Formula Tire Model (Chapter 13)

13. Human Driver Modeling .

14. The State-of-the-art in active safety systems