Ruf, M.M.RufZiehn, J.R.J.R.ZiehnWillersinn, DieterDieterWillersinnRosenhahn, B.B.RosenhahnBeyerer, JürgenJürgenBeyererGrotzig, H.H.Grotzig2022-03-122022-03-122014https://publica.fraunhofer.de/handle/publica/386405This 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.en004670conference paper