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Evaluation of an analytic model for car dynamics

: Ruf, M.; Ziehn, J.R.; Willersinn, Dieter; Rosenhahn, B.; Beyerer, Jürgen; Grotzig, H.

Institute of Electrical and Electronics Engineers -IEEE-:
International Conference on Mechatronics and Control, ICMC 2014 : 3 - 5 july 2014, Jinzhou, China
Piscataway, NJ: IEEE, 2014
ISBN: 978-1-4799-2537-7
International Conference on Mechatronics and Control (ICMC) <2014, Jinzhou/China>
Fraunhofer IOSB ()

This paper presents and evaluates a differential geometric model for single and double track vehicles, which allows to estimate internal state parameters (steering angles, velocities, wheel speeds, ...) from a given planar trajectory over time. Possible applications include accident reconstruction from video footage, constraining trajectory optimization by physical limits, and extracting control parameters a-priori from trajectories, for use in open-loop (non-feedback) controllers for short intervals. The model is easy to compute, yet the evaluation with IPG CarMaker suggests a good level of accuracy.