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Comparative evaluation of dynamic and kinematic vehicle models
- Issue Date
- Feb-2015
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- Proceedings of the IEEE Conference on Decision and Control, v.2015-February, no.February, pp 648 - 653
- Pages
- 6
- Indexed
- SCOPUS
- Volume
- 2015-February
- Number
- February
- Start Page
- 648
- End Page
- 653
- ISSN
- 0743-1546
2576-2370
- 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.
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