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

fYear

2014

fDate

15-17 Dec. 2014

Firstpage

648

Lastpage

653

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on

Conference_Location

Los Angeles, CA

Print_ISBN

978-1-4799-7746-8

Type

conf

DOI

10.1109/CDC.2014.7039455

Filename

7039455