REFERENCE MODEL FOR VEHICLE DYNAMICS CONTROL

Abstract eng:
Reference model means simplified mathematical vehicle model which describes vehicle lateral dynamics. The output of the reference model produces the most optimal trajectory in various driving conditions. The target of the control strategy is to hold the vehicle on this trajectory. This paper describes evaluation of 5 types of reference models and finds the best model for Dynamic Body Control system application. The differences among the reference model types are based on their complexity which starts with the simplest Ackermann model and ends with nonlinear Pacejka model.

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