System Dynamics

Vehicle Dynamics

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:

Single Track Model

Notes from the above package.