BUILDING A NONLINEAR MODEL OF CARS FOR RESEARCH ON MOTION TRAJECTORY OF AUTONOMOUS CARS

Abstract

Autonomous cars are a type of vehicle in the future and are being
researched on a worldwide scale. This research addresses the need, role and
basic technology of autonomous cars. The motion model of cars is built based on
the two-track tire model, which is used in combination with the nonlinear model
according to Pacejka's Magic Formula to determine the tire lateral force. Four
nonlinear tire force components are determined as input parameters of the twotrack motion model. The simulation results in a cornering maneuver at a speed of
40 km/h have clearly shown that the rotational dynamics of autonomous cars are
consistent with reality and show the advantages of the nonlinear model. This
study is part of a research collaboration on autonomous carsbetween the
University of Transport and Communicationsand the University of Grenoble Alpes
(Grenoble INP - Institute of Engineering) - France.