Vehicle kinematics model in autonomous driving

Introduction

要控制车辆的运动，首先要对车辆的运动简历数字化模型，模型建立的越准确，对车辆运动的描述越准确，对撤离跟踪控制的效果就越好。处理真实反应车辆特性外，简历的模型也应该可能的简单易用。

1. Vehicle motion model with the center point of the rear axle as the origin

The three values ​​of mainly refer to the speed in the x and y directions and the angular velocity of the car body itself. When multiplied by dt, it can be regarded as the distance and angle traveled during this time period. Here is the linear velocity of the running a, where the transformation value of θ is affected by the front wheel a and is converted into the θchange amount of the rear wheel through L.
Main reference address:
Vehicle kinematics model in autonomous driving