Date: Thu, 07 Sep 2000 21:00:12 +0200
From: Eric Espie
To: Rars mailing-list 
Subject: Re: Question about friction model in RARS

Jussi Pajala wrote:
> Thanks Eric!
> The book sounds quite interesting. I quess you have used this book
> quite a lot when developing/planning Torcs...

In fact I bought it this year, the dynamic part of TORCS was already

> What are the other sources you have used, or was this book enough?

- Race Car Vehicle Dynamics, W.F Milliken & D.L Milliken
  ISBN: 1-56091-526-9
  Editor: SAE (1995)
  Comments: Very race-oriented. Uses non-metric units.

- Tires, Suspension and Handling, J.C Dixon
  ISBN: 0-340-67796-1 or 1-56091-831-4
  Editor: Arnold      or SAE (1996)
  comments: Very "mathematical" it demonstrate a lot (in fact too much 
  for me but should interrest peoples like Remi ;-) . Uses metric units.

- Fondamentals of Vehicle Dynamics, T.D Gillespie
  ISBN: 1-56091-199-9
  Editor: SAE (1992)
  Comments: Almost the same as G.Genta (Motor Vehicle Dynamics) but I
  prefer Genta's one. Uses non-metric units.

- Inside Racing Technology, P. Haney, J. Braun
  ISBN: 0-9646414-0-2
  Editor: TV Motorsports (1997)
  Comments: popularization, not too mathematical but interesting.
  Uses non-metric units.

- Going Faster, The Skip Barber Racing School, C. Lopez
  ISBN: 0-8376-0227-0
  Editor: Robert Bentley (1997)
  Comments: Very good on the driving techniques, I did not succeed in
  traducing it in my robots... Uses non-metric units.

- Data Power, Using racecar data acquisistion, B. Fey
  ISBN: 1-88109-601-7
  Editor: Towery (1993)
  Comments: all to understand the telemetry stuff. Uses non-metric units.

- SAE papers on Simulation and Motorsports.
  Comments: Research papers, a lot of sujets covered, but not all usefull. very 
  expensive. Generaly uses non-metric units.

If you want to buy only one book I recommend the Genta's one:

- Motor vehicle dynamics: modeling and simulation, G.Genta
  ISBN: 9810229119
  Editor: World Scientific (1997)

No one book I bought have algorithms, only math formulas...

But, in order to program a simulator you will have to deal with
the Ordinary Differential Equations (ODE for small).
my sources were:
but it seems that David Eberly is writing a book. I saw that
source code was available too.

> The reason I keep asking the questions is that I've been interested
> of developing a car simulator my self, but there are some dynamics
> and other stuff I've not been able to figure out.

Good luck ;-)

> --Jussi
> >
> >The chapters are:
> >
> >1 - Short historycal notes on motor vehicles
> >2 - Forces acting between road and wheel
> >3 - Road vehicle aerodynamics
> >4 - Longitudinal dynamics
> >5 - Handling of a rigid vehicle
> >6 - Motor vehicle on elastic suspensions
> >7 - Road accidents
> >
> >There are a lots of formulas, but no algorithm.
> >
> >Eric.
> >--
> >

BTW, if someone has info on the differentials, I am interrested
as they are poorly simulated in TORCS.


            The Open Racing Car Simulator