Comparative Evaluation of Dynamic and Kinematic Vehicle Models

Title
Comparative Evaluation of Dynamic and Kinematic Vehicle Models
Author
정정주
Keywords
vehicle dynamics; mobile robots; road vehicles; robot dynamics; robot kinematics
Issue Date
2014-12
Publisher
IEEE
Citation
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on 2014 Dec, pp.648 - 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.
URI
http://ieeexplore.ieee.org/abstract/document/7039455/http://hdl.handle.net/20.500.11754/58111
ISSN
0191-2216
DOI
10.1109/CDC.2014.7039455
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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