Nonholonomic dynamics and control of road vehicles: moving toward automation

TL;DR

This paper develops simplified nonholonomic models of automobiles using analytical mechanics, enabling the design of precise low-complexity controllers for automated vehicle maneuvers.

Contribution

It introduces a systematic modeling approach for vehicle dynamics that facilitates the development of efficient control algorithms for automation.

Findings

Models effectively describe vehicle dynamics with minimal variables.

Controllers based on these models enable high-precision automated maneuvers.

The approach supports diverse vehicle control applications.

Abstract

Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics with minimum number of time-dependent state variables. The models are categorized based on how they represent the wheel-ground contact, whether they incorporate the longitudinal dynamics, and whether they consider the steering dynamics. It is demonstrated that the developed models can be used to design low-complexity controllers that enable automated vehicles to execute a large variety of maneuvers with high precision.