Numerical Simulation of Vehicle Motion including Non-Holonomic Constraints by Extended Baumgarte's Method

In this paper, we propose the non-holonomic constraint equations for the wheel roll motion when the wheel leans to the road, which are based on the assumption that the wheel rolls without a slip as if it is the circular cone with the apex which is the intersection of the normal directed downward from the wheel center to the road surface. The present assumption is applied to the numerical simulations of the bicycle motion and the rollover motion of the four-wheeled vehicle, and is proven to work sufficiently for both problems.