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A Survey of Vehicle Dynamics Modeling Methods for Autonomous Racing: Theoretical Models, Physical/Virtual Platforms, and Perspectives

文献类型：期刊论文

作者Zhang, Tantan1; Sun, Yueshuo1; Wang, Yazhou1; Li, Bai1; Tian, Yonglin2; Wang, Fei-Yue2
刊名IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
出版日期2024-03-01
卷号9期号:3页码:4312-4334
关键词Vehicle dynamics Surveys Tires Planning Aerodynamics Heuristic algorithms Computational modeling Autonomous racing chassis vehicle dynamics testing platform intelligent vehicles for education (IV4E)
ISSN号2379-8858
DOI10.1109/TIV.2024.3351131
通讯作者Tian, Yonglin(yonglin.tian@ia.ac.cn)
英文摘要This paper presents the first survey of vehicle dynamics modeling methods for autonomous racing. Previous surveys have covered dynamics models for standard autonomous vehicles or, alternatively, concentrated on planning and control methods in autonomous racing with vehicle dynamics models briefly mentioned. However, previous surveys overlook the importance of vehicle dynamics under challenging conditions of top speeds and non-steady state driving, which are unique characteristics in autonomous racing. Recognizing the vital role of vehicle dynamics modeling in an autonomous racecar's prediction, planning, and control modules, this survey seeks to ascertain to what degree the nominal full-scale racecar dynamics can be streamlined without sacrificing accuracy for simplicity. Furthermore, this survey provides essential guidance for organizers of virtual autonomous races, helping them choose vehicle dynamics models that meet the required level of precision. This paper begins with a review of previous surveys on vehicle dynamics modeling, highlighting their limitations in the context of autonomous racing. Following this, it investigates the existing dynamics models for autonomous racing vehicles, along with a comprehensive examination of the existing physical/virtual testing platforms. The paper concludes by discussing emerging trends and offering perspectives in the field of vehicle dynamics modeling for autonomous racing, paving the way for groundbreaking research and innovations in autonomous racing.
WOS关键词TIME-OPTIMAL CONTROL ; PREDICTIVE CONTROL ; MIXED-INTEGER ; OPTIMIZATION ; SYSTEM ; DESIGN ; LIMITS
资助项目National Natural Science Foundation of China
WOS研究方向Computer Science ; Engineering ; Transportation
语种英语
WOS记录号WOS:001214544700003
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/58388]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队
通讯作者Tian, Yonglin
作者单位1.Hunan Univ, Coll Mech & Vehicle Engn, Changsha 410082, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Tantan,Sun, Yueshuo,Wang, Yazhou,et al. A Survey of Vehicle Dynamics Modeling Methods for Autonomous Racing: Theoretical Models, Physical/Virtual Platforms, and Perspectives[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2024,9(3):4312-4334.
APA Zhang, Tantan,Sun, Yueshuo,Wang, Yazhou,Li, Bai,Tian, Yonglin,&Wang, Fei-Yue.(2024).A Survey of Vehicle Dynamics Modeling Methods for Autonomous Racing: Theoretical Models, Physical/Virtual Platforms, and Perspectives.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,9(3),4312-4334.
MLA Zhang, Tantan,et al."A Survey of Vehicle Dynamics Modeling Methods for Autonomous Racing: Theoretical Models, Physical/Virtual Platforms, and Perspectives".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 9.3(2024):4312-4334.

入库方式： OAI收割

来源：自动化研究所

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