Title :
Evaluation of an analytic model for car dynamics
Author :
Ruf, M. ; Ziehn, J.R. ; Willersinn, D. ; Rosenhahn, B. ; Beyerer, J. ; Gotzig, H.
Author_Institution :
Syst. Technol. & Image Exploitation (IOSB), Fraunhofer Inst. of Optronics, Karlsruhe, Germany
Abstract :
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.
Keywords :
differential geometry; open loop systems; parameter estimation; road accidents; road vehicles; vehicle dynamics; IPG CarMaker; accident reconstruction; car dynamics; differential geometric model; double track vehicles; internal state parameter estimation; nonfeedback controllers; open-loop controllers; single track vehicles; trajectory optimization; Acceleration; Analytical models; Computational modeling; Tires; Trajectory; Vehicles; Wheels;
Conference_Titel :
Mechatronics and Control (ICMC), 2014 International Conference on
Print_ISBN :
978-1-4799-2537-7
DOI :
10.1109/ICMC.2014.7232008
