Equations of dynamics
Basic principles of vehicle dynamics

Having looked at the kinematic aspects and given the main points on tires and automotive aerodynamics, we need to tackle the dynamic aspect of the problem. In this section, we'll take a look at modeling and the associated parameterization and tracking. We will then write the equations resulting from the application of the general theorems. We will then show how the system of equations can be decoupled into a yaw-drift model, on the one hand, and a roll model, on the other.