ABSTRACT
Lateral dynamics of a vehicle refers to its response to turning and directional change inputs. The lateral motion is influenced by a driver commands and environmental inputs, such as wind and road disturbances, including other cars and pedestrians. Steering is usually affected by changing the heading of the front wheels through the steering system. This steering configuration requires to steer the inside wheel to a greater angle than the outside wheel, and establish a proper relationship between both angles. The Ackermann angle increases when the rear wheels are steered in-phase and decreases for the out-of-phase rear-wheel-steering, which are characterized by positive or negative sign of the rear steer angle respectively. The difference between the inside and outside turn angles is usually adjusted smaller than the Ackermann-steering to allow more tire side forces.
