Bai, Y., Crolla, D., Guan, H., and Zong, C., "Linear Vehicle Model Identification Under Different Speed Based on ARMA Model," SAE Technical Paper 2012-01-0249, 2012, doi:10.4271/2012-01-0249.
Vehicle model plays an important role during the development process of a new car chassis. There are 2 different ways to set up the vehicle mathematics model, one is set up based on understanding the system mechanism and the other is based on system identification technique. In this paper, the transfer functions of the vehicle at 100 km/h, including yaw rate to the steering angle and lateral acceleration to the steering angle, were identified. And then the transfer functions under other forward speed were derived through studying two degrees of freedom vehicle model equation. At last the identified model at different speed was used to analysis the stability of closed loop system from the classical control theory viewpoint.