Numerical Effectiveness of Models and Methods of Integration of the Equations of Motion of a Car

Abstract

The paper presents models of car dynamics with varying complexity. Joint coordinates and homogenous transformations are used to model the motion of a car. Having formulated the models of the car, we discuss the influence of the complexity of the model on numerical efficiency of integrating the equations describing car dynamics. Methods with both constant and adaptive step size have been applied. The results of numerical calculations are presented and conclusions are formulated.

Application of joint coordinates and homogeneous transformations to modeling of vehicle dynamics

“…Few simplified versions of the model have been used in optimization and control tasks. Papers [30,31] present the calculation results obtained for different methods of integration. In comparison with [30], the analysis presented in [31] is concerned with additional complex maneuvers.…”

“…Papers [30,31] present the calculation results obtained for different methods of integration. In comparison with [30], the analysis presented in [31] is concerned with additional complex maneuvers. The methods in those papers include methods with an adaptive time step and methods for stiff systems of differential ordinary equations.…”

“…The methods in those papers include methods with an adaptive time step and methods for stiff systems of differential ordinary equations. The results presented in [31] show how the model complexity and integration methods affect calculation time.…”