Numerically Stable Dynamic Bicycle Model for Discrete-time Control

Autor:	Ge, Qiang, Li, Shengbo Eben, Sun, Qi, Zheng, Sifa
Rok vydání:	2020
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	Dynamic/kinematic model is of great significance in decision and control of intelligent vehicles. However, due to the singularity of dynamic models at low speed, kinematic models have been the only choice under many driving scenarios. This paper presents a discrete dynamic bicycle model feasible at any low speed utilizing the concept of backward Euler method. We further give a sufficient condition, based on which the numerical stability is proved. Simulation verifies that (1) the proposed model is numerically stable while the forward-Euler discretized dynamic model diverges; (2) the model reduces forecast error by up to 49% compared to the kinematic model. As far as we know, it is the first time that a dynamic bicycle model is qualified for urban driving scenarios involving stop-and-go tasks. Comment: 6 pages, 7 figures, conference
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2011.09612 Zobrazit plný text záznamu View this record from Arxiv