A Simple Way to Measure

Understeer Gradient
Direct measurement without the use of a skid pad
Albert Loh - 21 August, 2015

Introduction
Measurement of understeer gradient usually involves the use of a skid pad. The
method outlined here is simple, repeatable and easy to do. All it requires is a straight road
with a constant side slope or camber.

Method
When a vehicle moves along a straight path with a cross-slope,
there is a side thrust due to the component of the vehicle
FYV
weight acting down the slope. Slip angles will be
W
generated front and rear to counter the side thrust due to
the slope.

At a steady state, there will be a constant steering angle required to maintain a

straight course. This steering angle divided by the cross slope is the understeer gradient.

Theory
Definition of Understeer Gradient

Steering angle = Ackerman steering angle + USG * Ay

Since the vehicle is travelling straight, Ackerman steering angle is = 0.

Lateral Acceleration Ay = FYV / W (in g’s) = cross slope (for small angles)

Therefore, Understeer Gradient USG = Steering angle / cross slope.

A SIMPLE WAY TO MEASURE UNDERSTEER GRADIENT - ALBERT LOH 1

 ∂  

αR Direction  of  travel

ß
αR
αF
∂  =  α
FYV F  -­‐  α
R
ß
αR
αF

Sideslip  angle  ß  =  rear  slip  angle  αR  

Steering  angle  ∂  =  αF  -­‐  αR    >  0  
Understeer  Gradient  USG  =  ∂  /(FYV/W)

Fig 1 - Understeer Gradient Measurement -

∂ > 0 — Steer into Slope (Understeer)

αR Direction  of  travel

ß
αR αF
∂  =  αF  -­‐  αR

FYV
ß
αR ∂
αF

Sideslip  angle  ß  =  rear  slip  angle  αR  

Steering  angle  ∂  =  αF  -­‐  αR    <  0  
Understeer  Gradient  USG  =  ∂  /(FYV/W)

Fig 2 - Understeer Gradient Measurement -

∂ < 0 — Steer Away from Slope (Oversteer)

A SIMPLE WAY TO MEASURE UNDERSTEER GRADIENT - ALBERT LOH 2