Evaluation of an analytic model for car dynamics

Accuracy Evaluation of a Lightweight Analytic Vehicle Dynamics Model for Maneuver Planning

“…III. SIMULATION RESULTS Simulation tests were conducted using IPG CarMaker in [17] using a BMW 118i model on the Hockenheimring race track with speeds of up to 170 km/h. The results show a very good correspondence between the simulated parameters, recorded at 1 kHz, and the estimated results by the C 2 model, which was applied to the simulated trajectory.…”

“…These models are efficiently computable, but the degree of accuracy that can be achieved under realistic conditions for automated driving requires careful evaluation. In [17], a model is described particularly from the optimization perspective of twice continuously differentiable trajectories (hence labeled C 2 model, used as a basis of this paper), but only evaluated in simulated scenarios, indicating a very good degree of accuracy. Variations of the model are used for automated maneuver planning e.g.…”

“…Variations of the model are used for automated maneuver planning e.g. in [18], [21]. A similar model from the perspective of system control is given in [7] and compared to a true dynamic (i.e.…”

“…To contribute to this evaluation, this paper uses a model based on [17], whose aim is to establish the most relevant vehicle parameters in motion planning in relation to its twicedifferentiable trajectory (instead of, e.g., control inputs), to enable its efficient use within direct trajectory optimization, as posed e.g. in (2).…”

“…After describing the model and its simplifying assumptions, we briefly summarize the key results of previous simulation experiments in [17], and evaluate the model performance in detail in real-world drives on a closed-off test track (Sec. IV-A) and on public roads (Sec.…”