car
dynamic equations for the car benchmark model
Contents
Syntax
Description
Dynamic equation for the car benchmark model (see Eq. (19) in [1]). The benchmark represents the kinematik single track model of an autonomous vehicle. The system states are the vehicle orientation, the velocity, and the x and y position of the center of mass. Control inputs to the system are the steering wheel angle and the vehicle acceleration.
Input Arguments
x |
system states x (dimension: [nx,1]) |
u |
control inputs u (dimension: [nu,1]) |
w |
disturbances w (dimension: [nw,1]) |
Output Arguments
f |
value of the dynamic function = time derivative of x |
See Also
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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