# INTEGRATION OF CUBIC MOTION AND VEHICLE DYNAMIC FOR YAW TRAJECTORY MOHD FIRDAUS BIN MAT GHANI

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1 INTEGRATION OF CUBIC MOTION AND VEHICLE DYNAMIC FOR YAW TRAJECTORY MOHD FIRDAUS BIN MAT GHANI A thesis submitted in fulfilment of the requirements for the award of the degree of Master ofengineering (Mechanical) Faculty of Mechanical Engineering UniversitiTeknologi Malaysia SEPTEMBER 2014

2 iii To my beloved parents To my lovely wife, Noorasyeekeen binti Adinan To my son, Muhamad Arman Farhan To my lectures, for the guidance and encouragement To my friends for their support

3 ACKNOWLEDGEMENTS I would like to express my deepest appreciation to all those who provided me the possibility to complete this thesis. A special gratitude I give to my beloved supervisors Dr. Jamaludin Bin Hj Taib and Mr. Afandi Dzakaria, because supporting me in ideas and fundamental of this research. Special thanks go to my parents, who are supporting me as well. Besides that, I would like to thanks to Allah for giving me strength for finisihing my research

4 v ABSTRACT Researches in vehicle dynamic simulation have been a subject of interest for researchers nowadays. By replacing costly experiment, simulation of the vehicle dynamics can be the ultimate tools to investigate the vehicle response and producessimilar resultstothat of real experiment. Many of the vehicle simulation inputsdo not consider position of the car as a function of time. Cubic Motion curve will be used as the input to the vehicle simulation and driver model system. Cubic Motion is a curve generated by the integration of Cubic Spline and the dynamics of a vehicle. Cubic spline will generate the curve, while the dynamic of motion will position the vertices based on a given time set. Hence, a new approach has been made to investigate the road input with time function to produce similar response compared to the experimental method. This research focuses on a two- degree-offreedom vehicle lateral dynamic model. The tests were carried out for a two case studies which are Double Lane Change and Slalom test. Results have shown that, cubic motion can be used as the input for the vehicle simulation because it can produce good trajectory as well as other vehicle response such as vehicle trajectory, lateral acceleration and yaw rate. The significance of this research has a great potential for road safety study related to defining the speed limit of the vehicle according to the curviness of the road.

5 vi ABSTRAK Penyelidikan dalam simulasi dinamik kenderaan telah menjadi suatu bidang penting untuk penyelidik pada masa kini. Dengan menggantikan eksperimen yang menelan kos yang mahal, simulasi dinamik kenderaan boleh menjadi satu kaedah untukmengkaji tindak balas kenderaan dan mampu menghasilkan keputusan yang serupa seperti eksperimen sebenar. Kebanyakan input untuk simulasi kenderaan tidak mengambil kira kedudukan sebenar kereta di dalam fungsi masa. Likungan Cubic Motion akan digunakan sebagai input kepada simulasi kenderaan dan sistem model pemandu. Likungan Cubic Motion yang dihasilkan adalah gabungan Cubic Spline dan dinamik gerakan. Cubic Motion akan menghasilkan lengkung, manakala dinamik gerakan akan meletakkan posisi berdasarkan set masa yang telah ditetapkan. Oleh itu, pendekatan baru telah dibuat untuk menyiasat input jalan dengan fungsi masa untuk menghasilkan maklumbalas yang serupa berbanding dengan kaedah eksperimen. Kajian ini memberi tumpuan kepada dua darjah kebebasan dinamik kenderaan. Ujian dijalankan dalam dua kajian kes iaitu Double Lane Change dan ujian Slalom. Keputusan telah menunjukkan bahawa, input cubic motion boleh menjadi input untuk simulasi kenderaan kerana ia boleh menghasilkan trajektori yang baik serta tindakbalas yang lain seperti, pecutan sisian dan kada rulangan. Kepentingan kajian ini mempunyai potensi yang besar dalam membawa kajian keselamatan jalan seperti menentukan had kelajuan kenderaan mengikut darjah lengkuk jalan.

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