Modelling the vehicle in vehicle—infrastructure dynamic interaction studies

@article{Cantero2010ModellingTV,
  title={Modelling the vehicle in vehicle—infrastructure dynamic interaction studies},
  author={Daniel Cantero and Eugene J. O’Brien and Alberto Gonz{\'a}lez},
  journal={Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics},
  year={2010},
  volume={224},
  pages={243 - 248}
}
Abstract This article presents the equations of motion for a general articulated road vehicle, with variable number of wheels for the tractor and trailer. The equations are applicable to vehicle—infrastructure dynamic interaction problems for two- and three-dimensional systems, allowing for the definition of a wide variety of vehicle configurations with the same formulae. 

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