Linearization of vehicle models

Benchmark & Challenges
1

Hi there,

I’ve (almost) implemented the calculation of the state space matrices (A and B) for all the vehicles so they can be solved as a QP rather than a NLP. It comes down to the calculation of the Jacobians to linearize the dynamics. Would anyone be interested in that?

Thanks,
Jose

2

Hi Jose,

that sounds interesting! Could you please contact me at gerald.wuersching@tum.de ?

Best regards,
Gerald Würsching

3

Hi all,

is there any progress on this topic?

I want to linearize especially the Single Track Drift Model via automatic differentiation. While trying to adapt the model to use Matlab’s symbolic toolbox, some cryptic errors within the toolbox occur. Do you have any experience with such a symbolic differentiation approach with any of your models?

Regards

4

Hi,

we have not yet further worked on that so far. Also, we have not yet tried a symbolic differentiation approach as you described by using the models together with MATLAB symbolic toolbox. We’ll keep you updated in this thread if there is any progress on this topic.

Best,
Gerald

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