Disclosure Statement

ii The lateral dynamics of a road vehicle is studied through the development of a mathematical model. The vehicle is represented with two degrees of freedom, lateral and yaw. Equations ofmotion are derived for this vehicle model from basic principles of Newtonianmechanics. Both linear and non-linearmodels are developed. In the linearmodel tire lateral forces are represented by an approximate linear relationship. Transfer functions are written for the vehicle system for various control and disturbance inputs. Steady-state and transient response characteristics and frequency response are studied, and numerical simulation of the model is performed. In the non-linear model a detailed representation of tire lateral forces known as tire data nondimensionalization is utilized. Simulation is performed and compared with the linearmodel simulation to determine the range of applicability of the linear modeling assumptions.