Steady-State Vehicle Dynamics

Abstract

There are two main shortcomings in existing methods for finding steering angles for the application of autodriver algorithm. First, the fact that kinematic steering angles are not accurate enough. Second, in many cases the equation of the road is so complicated that makes it impossible to solve the equations of motion of the vehicle. The proximity of the transient and steady-state responses of a sample vehicle have been checked and validated by applying a step change input to the steering angle of a vehicle traveling with constant velocity. The results are used to prove that the steady-state responses are accurate enough to replace the dynamic solutions. This concept has been used to generate a new method for finding steering angles for the application of the autodriver algorithm. The new method is named Steady-State Dynamic Steering (SSDS) and presented here for the first time. A lane change maneuver has been used to validate the results. This has been done by comparing roads resulted from using SSDS angles and kinematic steering angles. The final results show improvements in simplifying the calculation for finding steering angles which will result in shorter computation times. On the other hand, the accuracy has improved dramatically compared to the kinematic steering scenario.