Accuracy of Common Road Model

CommonRoad-Search
1

Respected Ladies and Gentlemen,
I am a Master Thesis student in the University of Freiburg. In my Master Thesis, I am using the Common Road Model: Kinematic Single Track Model with one On-axle trailer (KST). (link to paper: https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf)

I am currently applying a closed loop optimization(Model Predictive Controller). To simulate uncertainty like in real life situations, I would like to know how accurate this model is. I would like to know how much it deviates from actual measurements. I am looking forward to hearing from you.

Thanking You,
Yours Sincerely,
Thejas Sai Babu

2

Hi Thejas,

the accuracy of the model would depend on different factors and it is hard to give a general answer to that. The kinematic model is a simplified abstraction of the real trailer-truck dynamics, as dynamic effects (e.g. tire model, spring masses etc…) are disregarded. However, we have not conducted a comparison between the KST model behavior and measurement data from real test drives .

Best,
Gerald