_z \}\) is fixed to the front axle.</p>
% <p>The center of gravity of the vehicle is located at the point \({\rm T}\). The front and rear axles are located at the points \({\rm F}\) and \({\rm R}\), respectively. Point \({\rm O}\) is the origin. The constant \(a\) measures the distance of point \({\rm F}\) to \({\rm T}\) and \(b\) the distance of point \({\rm T}\) to \({\rm R}\). The angles \(\alpha_{\rm F}\) e \(\alpha_{\rm R}\) are the front and rear slip angles, respectively. \(\alpha_{\rm T}\) is the ve