Vehicles Are Lazy: On Predicting Vehicle Transient Dynamics by Steady-State Responses

Ergonomic Path Planning for Autonomous Vehicles-An Investigation on the Effect of Transition Curves on Motion Sickness

“…The turning radius of the vehicle is mainly determined by the steering angle. Although the velocity does contribute to the location of Instantaneous Center of Rotation (ICR), it is less effective in determining the turning radius, especially at small side-slip angles [57]. Hence, the main factor determining the radius of rotation of the vehicle is assumed to be the steering angle.…”

Ergonomic Path Planning for Autonomous Vehicles - An investigation on the effect of transition curves on Handling Behaviour

“…The turning radius of the vehicle is mainly determined by the steer angle. Although the velocity does have some contribution to the Instantaneous Center of Rotation (ICR) location, it is less effective in determining the turning radius, especially at small side-slip angles [12]. Hence, the main factor determining the radius of rotation of the vehicle is assumed to be the steer angle.…”

“…Hence, the main factor determining the radius of rotation of the vehicle is assumed to be the steer angle. Thus, the aim is to set the steer angle to eliminate the position error between the ICR and the road curvature center laterally; then the velocity of the vehicle will impose a certain side-slip angle β to the vehicle, which eventually, matches the longitudinal position of ICR in body coordinate with the road curvature center [12]. The desired velocity is normally given by the high-level path planner as a velocity profile for different sections of a road.…”