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Hier finden Sie wissenschaftliche Publikationen aus den FraunhoferInstituten. Accuracy Evaluation of a Lightweight Analytic Vehicle Dynamics Model for Maneuver Planning
 Institute of Electrical and Electronics Engineers IEEE: 5th International Conference on Robotics and Automation Engineering, ICRAE 2020 : November 2022, 2020, Singapore, virtual event Piscataway, NJ: IEEE, 2020 ISBN: 9781728189826 ISBN: 9781728189819 ISBN: 9781728189802 S.197205 
 International Conference on Robotics and Automation Engineering (ICRAE) <5, 2020, Online> 

 Englisch 
 Konferenzbeitrag 
 Fraunhofer IOSB () 
Abstract
Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality criteria such as safety, comfort or ecology. Depending on the computation process, models with different assumptions and levels of detail are used; since maneuver planning usually has strong requirements for computation speed at a potentially high number of trajectory evaluations per planning cycle, most of the applied models aim to reduce complexity by implicitly or explicitly introducing simplifying assumptions. While evaluations show that these assumptions may be sufficiently valid under typical conditions, their effect has yet to be studied conclusively. We propose a model for vehicle dynamics that is convenient for maneuver planning by supporting both an analytic approach of extracting parameters from a given trajectory, and a generative approach of establishing a trajectory from given control inputs. Both applications of the model are evaluated in realworld test drives under dynamic conditions, both on a closedoff test track and on public roads, and effects arising from the simplifying assumptions are analyzed.