Title :
Comparative evaluation of dynamic and kinematic vehicle models
Author :
Chang Mook Kang ; Seung-Hi Lee ; Chung Choo Chung
Author_Institution :
Dept. of Electr. Eng., Hanyang Univ., Seoul, South Korea
Abstract :
In this paper, we deal with comparative evaluation of dynamic and kinematic vehicle models for autonomous driving control systems. Comparative lane coefficients estimation performance of each model is evaluated according to the tire slip angle. Each estimation makes use of clothoidal road constraints, respectively. We observe that the kinematic model is robust against unknown vehicle parameters tire-road condition or cornering stiffness for autonomous driving systems under lane keeping situation. The reliability of each model was validated via not only computational simulation results but also experimental results with a test vehicle.
Keywords :
mobile robots; road vehicles; robot dynamics; robot kinematics; vehicle dynamics; autonomous driving control systems; autonomous driving systems; clothoidal road constraints; cornering stiffness; dynamic vehicle models; kinematic vehicle models; lane coefficients estimation performance; lane keeping situation; tire slip angle; tire-road condition; unknown vehicle parameters; Dynamics; Estimation; Kinematics; Roads; Tires; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
DOI :
10.1109/CDC.2014.7039455
