Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach

Fatima Haidar; Abderaouf Laıb; Syed Ali Ajwad; Guillaume Guılbert

doi:10.29228/eng.pers.75106

Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach

Abstract

This paper presents a thorough exploration of vehicle dynamics modeling and simulation, focusing on lateral, longitudinal, and vertical motion. A comprehensive mathematical representation of a car-like vehicle is developed, incor-porating both kinematic and dynamic models to accurately capture its behavior. Initially, a kinematic model is established to describe fundamental motion in a 2D plane, while a subsequent dynamic model considers various forces influencing the vehicle's motion in a 3D space. The vertical motion of the vehicle is primarily influenced by its suspension systems. In this paper, we initially introduced a fundamental 2 Degree of Freedom (DOF) quarter car suspension model and subsequently presented a more comprehensive half car suspension model which accounts for both the front and rear body parts of the vehicle. The developed models are implemented using MATLAB/Simulink, enabling rigorous testing and validation of their accuracy. Simulation results demonstrate the precision of the developed models, consistently aligning with expected vehicle behavior under different input conditions. Specifically, the models accurately replicate vehicle motion in straight lines and circular patterns, corresponding to longitudinal speed and steering angle inputs. Additionally, a path tracking controller is integrated to showcase the model's efficiency and val-idate its derived parameters. The reliability and accuracy of the thoroughly developed models underscore their suitability for algorithm development and validation, essential for advancing autonomous vehicle technology and enhancing vehicle safety and performance.

Keywords

References

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Details

Primary Language

English

Subjects

Vehicle Technique and Dynamics

Journal Section

Research Article

Authors

Fatima Haidar ^* This is me
France

Abderaouf Laıb
France

Syed Ali Ajwad
France

Guillaume Guılbert
France

Publication Date

March 31, 2024

Submission Date

December 14, 2023

Acceptance Date

January 27, 2024

Published in Issue

Year 2024 Volume: 4 Number: 1

DOI

https://doi.org/10.29228/eng.pers.75106

IZ

https://izlik.org/JA92HG86SU

Cite

RIS / Bibtex

APA

Haidar, F., Laıb, A., Ajwad, S. A., & Guılbert, G. (2024). Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach. Engineering Perspective, 4(1), 7-16. https://doi.org/10.29228/eng.pers.75106

AMA

1.Haidar F, Laıb A, Ajwad SA, Guılbert G. Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach. engineeringperspective. 2024;4(1):7-16. doi:10.29228/eng.pers.75106

Chicago

Haidar, Fatima, Abderaouf Laıb, Syed Ali Ajwad, and Guillaume Guılbert. 2024. “Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach”. Engineering Perspective 4 (1): 7-16. https://doi.org/10.29228/eng.pers.75106.

EndNote

Haidar F, Laıb A, Ajwad SA, Guılbert G (March 1, 2024) Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach. Engineering Perspective 4 1 7–16.

IEEE

[1]F. Haidar, A. Laıb, S. A. Ajwad, and G. Guılbert, “Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach”, engineeringperspective, vol. 4, no. 1, pp. 7–16, Mar. 2024, doi: 10.29228/eng.pers.75106.

ISNAD

Haidar, Fatima - Laıb, Abderaouf - Ajwad, Syed Ali - Guılbert, Guillaume. “Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach”. Engineering Perspective 4/1 (March 1, 2024): 7-16. https://doi.org/10.29228/eng.pers.75106.

JAMA

1.Haidar F, Laıb A, Ajwad SA, Guılbert G. Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach. engineeringperspective. 2024;4:7–16.

MLA

Haidar, Fatima, et al. “Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach”. Engineering Perspective, vol. 4, no. 1, Mar. 2024, pp. 7-16, doi:10.29228/eng.pers.75106.

Vancouver

1.Fatima Haidar, Abderaouf Laıb, Syed Ali Ajwad, Guillaume Guılbert. Integrated Vehicle Dynamics Modeling, Path Tracking, and Simulation: A MATLAB Implementation Approach. engineeringperspective. 2024 Mar. 1;4(1):7-16. doi:10.29228/eng.pers.75106