Course

Memorandum (Kurs‐PM) for MMF062 Modified 2016‐12‐13 07:57

Course Memorandum (Kurs‐PM) for

MMF062 Vehicle Dynamics
Academic year 2016/2017, Study period 2
This course PM may occur in updated versions during the course, especially Table 2 and Table 3.
Version is identified by date and time in upper right corner of each page. New versions are released on
course web page: https://pingpong.chalmers.se/courseId/7244/launchCourse.do.

Contents
Course goals and development ................................................................................................................................................. 1 
Personnel ........................................................................................................................................................................................... 2 
Course elements ............................................................................................................................................................................. 2 
Time table .......................................................................................................................................................................................... 4 
Material .............................................................................................................................................................................................. 5 
Examination and grading ............................................................................................................................................................ 6 
Tools .................................................................................................................................................................................................... 8 
Student course evaluation .......................................................................................................................................................... 8 

Course goals and development

Course goals
The course is one of the mandatory courses in the in the MSc program Automotive Engineering
(MPAUT) and recommended in course package Automotive systems in MSc program Systems, Control
and Mechatronics (MPSYS). But it is also open for other participants with suitable background. Course
syllabus with “learning outcomes” is found at
https://www.student.chalmers.se/sp/course?course_id=24469.
There are requirements on MPAUT. MPAUT allocates these on the different courses. A summary of the
requirements allocated on the course MMF062, and how they are fulfilled, is given in Table 1.
Table 1: Requirements on MMF062 Vehicle Dynamics and how they are fulfilled
Incoming requirements on the course How these are fulfilled
After the completion of Automotive Engineering the  Primarily  Primarily in 
Description
student will be able to… in Chapter Teaching form
•Tyre mechanics are explained and models are 
• Describe and calculate  the forces acting between the 
derived and used. 2 Lectures
tyre and the road  during the operation of a vehicle.
•Other forces on the vehicle are introduced.
• Describe design and basic function  of the  vehicle 
Compendium
systems : propulsion, brake, steering and suspension. •Each system is described (incl. modelled) to a 
• Derive basic models  of the mentioned  vehicle sub‐ level needed for complete vehicle models.
2,3,4,5
systems , capturing such as: front/rear axle drive, anti‐ •Driver interaction and control functions are  Compendium,
dive/anti‐squat suspension, axle roll‐centre, steering, roll‐ introduced. Lectures
axis.
• Derive models  of a  complete vehicle , and use them to  Compendium,
•Define and discuss complete vehicle functions.
verify complete vehicle functional requirements  for  Lectures, 
•Physically based complete vehicle models are  3,4,5
manouvres that mainly are either of longitudinal, lateral  Assignments, 
derived and used, separate for each direction.

or vertical. Problem Solving

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Course Memorandum (Kurs‐PM) for MMF062 Modified 2016‐12‐13 07:57

Changes since previous course occasion one year ago

Lectures
The lectures has been re‐vised. More specific pre‐study references to compendium has been added to
Table 2. Co‐lectures has been moved from end of course to when the corresponding content is
lectured. Co‐lecture on driver models moved to course TME102 Vehicle Dynamics Advanced. Co‐
lecture on two‐wheeler dynamics is removed. Co‐lectures on Suspension and Simulators are added.

Assignments
The driving simulator part of Assignment 2 is somewhat extended. The Assignment 1 is
correspondingly reduced. Plagiarism check has been added.

Compendium:
A new edition of the compendium (Reference (Jacobson, 2016)) with updates as listed in “Preface
2016” in the compendium.

Personnel
 Examiner and main lecturer:
o Bengt Jacobson, bengt.jacobson@chalmers.se, 031‐7721383 …[BJ]
 Course Administrator:
o Sonja Laakso, sonja.laakso@chalmers.se, 031‐7723637 …[SL]
 Co‐lecturers:
o Edo Drenth: Volvo Cars …[ED]
o Mats Sabelström, Chalmers, former Volvo GTT …[MS]
o Leo Laine, Volvo GTT & Chalmers …[LL]
o Roland Svensson, former Volvo GTT …[RS]
o Carl Sandberg, Simulator as verification platform ...[CS]
 Problem solving sessions:
o Lead: Kristoffer Tagesson, kristoffer.tagesson@chalmers.se …[KT]
o Support: Pär Pettersson, par.pettersson@chalmers.se …[PP]
 Assistants, Assignment 1, Longitudinal:
o Lead: Pär Pettersson, par.pettersson@chalmers.se …[PP]
o Support: Toheed Ghandriz, toheed.ghandriz@chalmers.se …[TG]
 Assistants, Assignment 2, Lateral:
o Lead: Manjurul Islam, manjurul.islam@chalmers.se …[MI]
o Support: Artem Kusachov, artem.kusachov@chalmers.se …[AK]
o Instructors simulator lab:
 Lead: Ronja Örtlund, ortlund@student.chalmers.se …[RÖ]
 Support: Jacob Gustafsson, Johan Lindqvist
 Assistants, Assignment 3, Vertical:
o Lead: Leon Henderson, leon.henderson@chalmers.se …[LH]
o Support: Toheed Ghandriz, toheed.ghandriz@chalmers.se …[TG]

Course elements
The course consists of lectures, problem solving sessions, and assignments.

Lectures
See Table 2. Lectures follow the compendium chapters. Lectures are held around Lecture slides, also
handed out. Between the slides, the board will be used for some parts. Students are encouraged to
study the lectured part of the compendium and the handed out slides (available on course web page)
before each lecture and prepare questions.
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Course Memorandum (Kurs‐PM) for MMF062 Modified 2016‐12‐13 07:57

Problem solving sessions

See Table 3. All students are expected to participate actively in the weekly problem solving sessions.
Time is devoted to active learning, i.e. students taking part in solving problems. The motivation behind
this is that studies show that it improves learning. In each session a few problems will be solved either
individually, in groups, and/or involving the whole class. Students are required to attend at least 4
problem solving sessions. Student are furthermore expected to solve all weekly problems, which
remain after each session, before the following week’s session, where a quick review will be made. The
problems solved at the problem solving sessions are partly taken from old written examinations.

Assignments
See Table 3. There are 3 assignments, with topics according to time table. There is an assignment
description for each assignment, which states what you should do in each assignment. There is an
overall design task for each assignment, but there are also a series of steps which is proposed to help
you to develop your knowledge on the way. The work is rather extensive and requires that you use
computer and that you work outside the assignment sessions. The computer tool “Matlab” and
“Simulink” is advised. The results should be handed in as an Assignment Report, see below.

Driving Simulator Session

The driving simulator session is a part of Assignment 2. The session is made according to a separate
schedule.

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Course Memorandum (Kurs‐PM) for MMF062 Modified 2016‐12‐13 07:57

Time table
The course time table is given in Table 2 and Table 3.
Table 2: Time table part 1 of 2: Lectures
https://se.timeedit.net/web/chalmers/db1/public/ri11Q653505017QQ54ZZ555005yYW06976976108Q550.html

week/month 44 45 46 47 48 49 50

Tue, Nov 15

Tue, Nov 22

Tue, Nov 29

Tue, Dec 13
Tue, Nov 1

Tue, Nov 8

Tue, Dec 6
Wed

Wed

Wed

Wed

Wed

Wed

Wed
Thu

Thu

Thu

Thu
time slots needed [45 min]

Fri

Fri

Fri

Fri

Fri

Fri

Fri
To pre‐study day

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45
source material (compendium if not

8‐9:45

8‐9:45
8‐9:45

8‐9:45

8‐9:45
8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45
8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45
time

23:59

23:59

23:59

23:59
else stated)
presentation material

ED2480, ED3582

ED2480, ED3582

ED2480, ED3582

ED2480, ED3582

ED2480, ED3582
loca‐
browse focus

MT0, MT9

MT0, MT9

MT0, MT9

MT0, MT9

MT0, MT9

MT0, MT9
ping‐pong

ping‐pong

ping‐pong

ping‐pong
tion

Vasa C

HA2
EB

EB

EB

EB

EB

EB

EB
EE
EE

EE

EE

EE

EE

EE

EE

EE

EE

EE

EE

EE
Teache
Specification sections description
r
Lectures:
Intro to course  0.Intro to 
Course memo 1 BJ 1
and subject course.pdf
Functions, 
1.Introductio 1.5.2.1, 
INTRODUCTION 1.4, 1.5 Requirements,  1 BJ 1
n.pdf 1.5.3.1
Modelling, Tools
2.4.1,  Tyre Des., Tyre  2 BJ 2
VEHICLE  2.VehicleInte
2.1..2.4 2.4.2,  RollResist, 
INTERACTIONS ractions.pdf
2.4.3.1  TyreLongSlip 1 BJ 1
pdf‐file 
under co‐ 1.5.2.1, 1.5.6, 1.5.7,  VirtVerif, Mod&Sim, 
INTRODUCTION 1 ED 1
lectures at  1.5.10.2 Tools, VirtVehArch
course web 
2.5, 2.6, 
VEHICLE  2.VehicleInte 2.5.1.1,  TyreLat, TyreComb, 
2.10,  2 BJ 2
INTERACTIONS ractions.pdf 2.6.1 Driver models
4.5.3.2
3.2.2,  PropSyst, SS funcs, 
3.1, 3.2 2 BJ 2
3.3.2 Long events funcs
3.LongitudinalDynamics.pdf

BrkSyst, Short events 
3.3.10, 
1.3

3.3 funcs, Load transf no  1.3 BJ

3.3.11
susp, Accel

Assign 1 instruct .pdf 0.2 BJ 0
LONGITUDINAL 
DYNAMICS Short events 
3.4.6,  functions, Load transf 
0.5

0.5

3.4, 3.5 2 BJ 1
3.4.8 Susp, (Brake Syst, 
Ctrl)
pdf‐file 
under co‐
3.4.3, 3.4.6 Heavy Vehicle Brake 1 MS 1
lectures at 
course web 

4.1 ‐ Intro lateral 1 BJ
1

Assign 2 instruct .pdf 0.2 BJ 0
4.LateralDynamics.pdf

4.2.6, 
4.2 Low‐speed 1.5 BJ 2
4.2.11
4.3.2.4, 
4.3 4.3.6,  SteadyState 2.5 BJ 2 1
4.3.9.3
4.4.2.1, 
4.4 StationaryOscill. 0.5 BJ 1
4.4.3.2
4.5.2.1, 
4.5 Transient 0.5 BJ 1
4.5.3.1
LATERAL  pdf‐file 
DYNAMICS under co‐ 3.5.2.3, 3.5.2.4,  Heavyy vehicle, ABS, 
1 LL 1
lectures at  4.6.2.2, 4.6.2.3 ESC, RSC
course web 

pdf‐file  Vehicle Simulator as 
1.5.6.2 1 CS 1
under co‐ verification tool
lectures at 
course web  Integration into simulator and desktop 
0.5 Jacob
simulator
4.LateralDy
namics.pdf

4.5.4.1,  Step steer response, 
4.5, 4.6 1 BJ 1
4.5.4.2 (Ctrl?)

5.1..5.3 5.3.1.3 Stat.Oscill. theory 2 BJ 1 1

Dynamics.pdf
5. Vertical

5.4.2,  Road Models, 1D 
5.4, 5.5 1.8 BJ 1 1
5.5.3 VehModels
Assign 3 instruct .pdf 0.2 BJ 0
VERTICAL Comf, Grip, Fatigue, 
DYNAMICS
5.6..5.12 5.6.2, 5.10 2 BJ 2
2D,3D
pdf‐file 
under co‐ 3.4.8, 3.4.9,  Heavy Vehicle 
1 RS 1
lectures at  4.5.3.1, 5.2 Suspension
course web 
Reserve, <To be all
<To be decided> 2 BJ 2
Repetition decided> above
Problem
<To be Old KT
solving on <To be decided> 2 2
decided> exams (PP), BJ
demand


Page 4 (8)
Course Memorandum (Kurs‐PM) for MMF062 Modified 2016‐12‐13 07:57
Table 3: Time table part 2 of 2: Assignments and Problem solving
week/month 44 45 46 47 48 49 50 51

Tue, Nov 15

Tue, Nov 22

Tue, Nov 29

Tue, Dec 13

Thu, Dec 22
Tue, Nov 1

Tue, Nov 8

Tue, Dec 6
Wed

Wed

Wed

Wed

Wed

Wed

Wed
Thu

Thu

Thu

Thu
time slots needed [45 min]

Fri

Fri

Fri

Fri

Fri

Fri

Fri
To pre‐study day

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

ED2480, ED3582 10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45

10‐11:45
source material (compendium if not

8‐9:45

8‐9:45
8‐9:45

8‐9:45

8‐9:45
8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45
8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45

8‐9:45
time

23:59

23:59

23:59

23:59

23:59
else stated)
presentation material

ED2480, ED3582

ED2480, ED3582

ED2480, ED3582

ED2480, ED3582

HB105, HB110
loca‐
browse focus

MT0, MT9

MT0, MT9

MT0, MT9

MT0, MT9

MT0, MT9
ping‐pong

ping‐pong

ping‐pong

ping‐pong

ping‐pong
tion

Vasa C

HA2
EB

EB

EB

EB

EB

EB

EB
EE
EE

EE

EE

EE

EE

EE

EE

EE

EE

EE

EE

EE
Teache
Specification sections description
r
Assignments sessions:
Assignimnets
(groups,
Course memo, Assign section

0.2
‐ 0.2 BJ,PP
matlab,
simulator, …)
Intro to Assign Assign 1

0.3
0.3 PP
1. Longitudinal intro .pdf
Assign 1. ‐ Assign 1 instruct .pdf + 2 PP,BJ 2
Assign 1. ‐ 2 PP,TG 2
Hand‐out code
Assign 1. ‐ 1 PP,TG 1

due
Assign 1. Due ‐ ‐
Intro to Assign Assign 2

0.3
0.3 MI,RÖ
2. Lateral intro .pdf
Assign 2. ‐ 1 MI,AK 1
Assign 2. ‐ Assign 2 instruct .pdf, Task 1..4, 2 MI,AK 2
Assign 2. ‐ Hand‐out code 2 MI,AK 2
Assign 2. ‐ 2 MI,AK 2
Assign 2. ‐ 2 MI,AK 2
Assign 2. ‐ 2 MI,AK 2
Simulator drive sessions, at RÖ, et
3/group Book time at CASTER's web
CASTER al

due
Assign 2. Due ‐ ‐ ‐
Intro to Assign Assign 3

0.3
0.3 LH
3. Vertical intro .pdf
Assign 3. ‐ 2 LH, TG 2
Assign 3. ‐ 2 LH, TG 2
Assign 3. ‐ Assign 3 instruct .pdf + 2 LH, TG 2

Assign 3. "Due" Hand‐out code

"due"
(for correction ‐ ‐
before exam)

due
Assign 3. Due ‐ ‐
Problem solving sessions:
Tyre & ‐ ProbSolv‐pdf, PSS1 2 KT 2
Longitudinal ‐ ProbSolv‐pdf, PSS2 2 PP 2
‐ ProbSolv‐pdf, PSS3 2 PP 2
Lateral
‐ ProbSolv‐pdf, PSS4 2 KT 2
‐ ProbSolv‐pdf, PSS5 1.7 KT 2
Vertical
‐ ProbSolv‐pdf, PSS6 2 KT 2

Written examinations
There are 3 written examinations per year in the course:
January, April and August. See https://www.student.chalmers.se/sp/course_list

Material
Compendium
There is a compendium, Reference (Jacobson, 2016), which will be referred to at the lecture. It is
available at Cremona for 208 SEK. A pdf‐version of the compendium and errata list (corrections), will
also be available on the course public web, https://pingpong.chalmers.se/public/courseId/7244/lang‐
en/publicPage.do. (NOTE: The printed and binded version from Cremona is allowed aid at the written
examination and therefore it is strongly recommended.)
Beside the course compendium there is a lot of literature which is useful but not needed to follow the
course. Total list of recommended literature:

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Course Memorandum (Kurs‐PM) for MMF062 Modified 2016‐12‐13 07:57
Gillespie, T. 1992. Fundamentals of Vehicle Dynamics. s.l. : Society of Automotive Engineers,
1992.
Happian‐Smith, Julian. 2001. An Introduction to Modern Vehicle Design. u.o. : Butterwoth‐
Heinemann, ISBN 0‐7506‐5044‐3, 2001. https://www.dawsonera.com/abstract/9780080523040
.
Jacobson, Bengt, et al. 2016. Vehicle Dynamics Compendium for Course MMF062. Göteborg :
Chalmers University of Technology, 2016.
http://pingpong.chalmers.se/public/courseId/4042/lang‐en/publicPage.do .
Kiencke, Uwe and Nielsen, Lars. 2005. Automotive control systems: for engine, driveline and
vehicle. Berlin Heidelberg New York : Springer, 2005. ISBN 3‐540‐23139‐0.
Miliken, W. F. Race car vehicle dynamics. s.l. : SAE.
Mitschke, M. Dynamik der Kraftfahrzeuge, band A‐C. s.l. : Springer Verlag.
Pacejka, H. 2012. Tyre and Vehicle Dynamics, 3rd ed. s.l. : Elsevier, 2012. ISBN ISBN: 978‐0‐08‐
097016‐5; http://www.sciencedirect.com/science/book/9780080970165 .
Ploechl, Manfred, [ed.]. 2013. Road and Off‐Road Vehicle System Dynamics Handbook. s.l. : CRC
Press, 2013. Print ISBN: 978‐0‐8493‐3322‐4; eBook ISBN: 978‐1‐4200‐0490‐8;
http://www.crcnetbase.com/isbn/9781420004908 .
Robert Bosch GmbH. 2004. Bosch Automotive Handbook 6th Edition. s.l. : Bentley Publishes,
2004.
Wong, J.Y. 2001. Theory of Ground Vehicles (3rd ed.). s.l. : John Wiley and Sons, Inc., New York,
2001.
Many of these are available as full‐text if you have Chalmers ID on
http://chalmers.summon.serialssolutions.com .

Other material
There are mainly four types of other material. These are as follows and should be seen as part of
course literature:
 Lecture slides (available on course web before lecture to enable preparation)
o The example model is also available as zip file with Matlab/Simulink files
 Problem solving material for self‐studies and sessions:
o Old written examinations with solutions
o Problems for problem solving sessions
 Assignment instructions, including hand‐out code
 Selection of material from course “TME121, Engineering of Automotive Systems”. It gives some
more about the actual design of the vehicle’s sub‐systems. It is not necessary pre‐requisites,
but might be interesting for students which has not taken the course TME121.
These are available on course web and, normally not handed out in paper format.

Examination and grading

Examination consists of 1 written examination and 3 assignment reports. Each of these 1+3=4 pieces
have to be passed to pass the course.
The total grade in the course is derived from the sum of all points gained at the written examination
and the 3 assignments, as follows:
 <40 points gives Fail (=no grade)
 40 points (40%) gives Pass with grade 3
 60 points (60%) gives Pass with grade 4
 80 points (80%) gives Pass with grade 5 (best)

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Course Memorandum (Kurs‐PM) for MMF062 Modified 2016‐12‐13 07:57
The maximum achievable number of point for each of the 4 pieces is selected so that the written
examination corresponds to 50% of the course grade. Note that assignments and written examination
intentionally test different capabilities: Each assignments is a more complex problem which requires
several days with computer to solve, while each written exam problem has to be designed to be
solvable in less than an hour without computer; “engineering like” and “knowledge check”,
respectively.

Written Examination
The written examination contains of 5 problems. Maximum number of points is 50, normally with
maximum 10 points/problem. The written examination is failed or approved with grade. The grade
uses the same scale (in percent) as listed above for total course grade.
You are not allowed to bring anything except the following to the written examination:
 The compendium, Reference (Jacobson, 2016) or previous editions, including own notes inside
‐‐ what can be fitted on the original pages in the compendium.
o Printed and binded version of compendium, not pdf‐version.
o Older editions from previous years of same compendium is also allowed, but please
reference equations with year of compendium, because equation numbers have been
changed over the years.
 Engineering Handbooks (such as Bosch or Dubbel)
 Mathematical and Physics Handbooks,  or equivalent in English.
 Chalmers Type Approved (Casio FX82, Texas TI30 and Sharp EL531)
 Language dictionaries
 Pen, pencils, eraser, ruler, and similar
 Food and drink
NOTE: Solutions to examples and problems are not allowed for use during the examination.
The written examination will test your ability to understand and solve problems. You have to
document your solution in a convincing way, e.g. through clear and logical sketches, text and
equations. If you need additional data, or find redundant data, make reasonable assumptions and
explain in your solution. Also not completed solutions may give points, if you explain how to continue.
If not explicitly asked for derivations, you may use equations from the compendium without deriving
them. However, you shall refer to where in the compendium you have found them.

Assignment Reports
The assignments are divided into tasks, each with a certain maximum point. The sum of points per
assignment, and the limit for passed, is:
 Assignment 1. Longitudinal: Maximum 10 points. Passed if 4 points (40%).
 Assignment 2. Lateral: Maximum 25 points. Passed if 10 points (40%).
 Assignment 3. Vertical: Maximum 15 points. Passed if 6 points (40%).
The assignments are designed such that all students is expected do a majority of the tasks but only a
few students are expected to do all tasks. Assistants will give most support on the tasks up to level for
passed, while the remaining should be more up to the students on their own.
If an assignment report is not passed, you might get the opportunity to reach passed (and the
corresponding number of points) on this assignment through an individual oral examination.
Students shall work in pairs and submit one report per pair:
 The students will be paired in a random way, but striving for mixing non‐Swedish and Swedish
students.
 Group naming: “Lastname1_Firstname1_and_Lastname2_Firstname2”
 You have to “assign” the group to each assignment.
Each report shall be handed in as one pdf‐file via the course web page. The report shall adequately
reflect your analysis and understandings of the subjects in each assignment. The reports should be
Page 7 (8)
Course Memorandum (Kurs‐PM) for MMF062 Modified 2016‐12‐13 07:57
clear and logical, regarding sketches, equations, diagrams, etc. The report can be written basically as a
solution of a task including results and reflection of validity; the only formal requirements are:
 Reports shall have the following on the cover page=1st page:
o course name
o assignment number and name
o for each student:
 name
 personal ID number (e.g. YYMMDD‐XXXX)
 Page after cover page should be a short abstract with, typically, 2..5 sentences. Abstract should
describe the total work, but only on a top level, i.e. what was the task and what is the
results/recommendations.
 Use appendices for information of type: programmes, long derivation of equations, etc.
 The pdf should be computer generated (not scanned hand‐written)

Tools
You are supposed to manage Matlab and Simulink for the assignments. If you are not familiar, please
check out: http://www.mathworks.com/videos/matlab/getting‐started‐with‐matlab.html and
http://www.mathworks.se/help/simulink/getting‐started‐with‐simulink.html.  

Student course evaluation

There is a process for student course evaluation at Chalmers, see Figure 1.

The process
• Three meetings between 2-6 student representatives and the teacher. In
the final meeting, also representatives from the programme, the
department and the student union may attend.
• Brief, web-based, anonymous questionnaire to all students.
• Minutes from the final meeting available in the student portal.
Meeting 1
Meeting 3
Course intro Meeting 2
Questionnaire
1 2 3 4 5 6 7 8 Exam 1 2 3 4 5 6 7 8 Exam

Representatives Notes on Minutes

presented course website Portal

Course evaluations at Chalmers

Figure 1: Student course evaluation process at Chalmers.
Beside that formal process, the course personnel appreciate direct feedback! Tell problems and/or
give concrete change proposals early and on any part of the course (lectures, problem solving sessions,
assignments).
Page 8 (8)