“…So, spatial FE vehicle models are typically composed of mass, spring, bar and rigid elements that are combined to model tyre, suspension, axle/body masses and connections between them. The equations of motion of a spatial vehicle model can be established for rigid (Tan et al, 1998;Zhu & Law, 2002;Kim et al, 2005) or articulated configurations (EIMadany, 1988;Fafard et al, 1997;Kirkegaard et al, 1997;Nassif & Liu, 2004;Cantero et al, 2010). In the latter, equations of motion can be formulated for the tractor and trailer separately, and the DOFs of both parts can be related through a geometric condition that takes into account the hinge location.…”