Technical Paper
A Survey of Vehicle Dynamics Models for Autonomous Driving
2024-04-09
2024-01-2325
Autonomous driving technology is more and more important nowadays, it has been changing the living style of our society. As for autonomous driving, vehicle dynamics and control is one of the most challenging part, many kinds of specific vechile dynamics models have been proposed, this review attempts to give an overview of the state of the art of vehicle dynamics models for autonomous drving. Firstly, this review starts from simple kinematic model, two DOF bicycle modle, multi- DOF dynamics model, and discusses the specific use of these classic models for autonomous driving. Secondly, data driven or AI based vehicle models have been reviewed, focusing on their modeling process and training process. Furthermore, considering some limit senarios of autonomous driving, vehicle dynamics model under these limit senarios, especially the tire models, are discussed in more detail.