Vehicle dynamics tells us how our Vehicle States change over time as we apply different inputs.
A good introduction is this lecture: F1TENTH L06 - Vehicle States, Vehicle Dynamics and Map Representations, accompanying slides can be found here.
Vehicle Dynamics Models
Listed by increasing accuracy (but also increasing number of parameters)
- Single Track Model
- Linear Single Track Model
- Kinematic Single Track Model
- Nonlinear Single Track Model
- Double Track Model
- Multi-Body Simulation
- Finite Elements Simulation
Single track model follows Ackermann Steering, this is probably what I am going to work on.
Use from CommonRoad Vehicle Dynamics package (Python), this is what F1TENTH gym uses as they say here: https://f1tenth-gym.readthedocs.io/en/latest/customized_usage.html
Single Track Model
Notes from the above package.