Constant velocity yaw/roll program: user's manual

This document is a User's Manual for the computer-based mathematical simulation program entitled "Constant Velocity Yaw/Roll Model" developed in 1980 at the University of Michigan Transportation Research Institute. This manual provides an introduction to the simulation program with a description of its external characteristics sufficient for a user to submit a run and interpret the output obtained. Additional documentation describing the modeling of the vehicles inside the program is given in Appendix C. As the name suggests, the Constant Velocity Yaw/Roll Model simulates the turning and rolling behavior of motor vehicles in constant-speed manoeuvres. Turning behavior may be controlled either by defined steering inputs or by a driver model following a prescribed trajectory. The model's particular features are tailored to simulation of trucks and tractor-trailers, accommodating up to four vehicle units. The simulation is particularly versatile in representation of multiple-axle configurations and different types of hitching mechanisms between the vehicle units. The simulation generates time-based output indicating motions of each vehicle and the controlling forces internal to the vehicles.