The analysis of the autonomous vehicle stable movement using a kinematic model

Abstract

Movement stability is a very important criterion for road safety seeking to ensure that autonomous vehicles would be fully valued road users. This criterion is evaluated by using kinematic vehicle models, which are often added to the intelligent control algorithms of autonomous vehicles. The designed kinematic models have to be as precise as possible and to take into account a large amount of variables because, based on the data obtained from the model, the control algorithm changes the regulated parameter, e.g., controls the steering-wheel or certain vehicle control pedals. That is why, in this work, the review of the mentioned models is presented and analysis of autonomous vehicle stable movement is performed. The analysis is done based on the results of the experimental research using a robotised steering-wheel control system. Kinematic model which was used during analysis is presented in the environment of the software package ATLAB/Simulink.