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...Vehicle dynamics and control jan aslund liu se associate professor dept electrical engineering vehicular systems link oping university sweden lecture longitudinal model f ma tot forces acting on the in direction tractive braking force from wheels rolling resistance rr horizontal component of gravitational rg aerodynamic ra equation motion x mdv r dt g a some models for were presented previous is wsin s where w mg och slope angle i will use convention that positive uphill slopes negative downhill course book it assumed always sin c v d air density coecient af frontal area vr speed relative to wind be kg m empirical formula som car can found table...