単一トラックモデルの短時間位置精度：自動運転車の動作計画への影響
Short-Horizon Position Accuracy of Single-Track Models: Implications for Motion Planning of Autonomous Vehicles
自動運転車の動作計画に用いる3種類の単一トラック車両モデルの短時間位置精度を実測データと比較し、モデル選択のためのトレードオフを明らかにした。
著者: Aron J. Aertssen, Lars A. T. H. van Alen, Igo J. M. Besselink, Rudolf G. M. Huisman, René M. J. G. van de Molengraft
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Accurate and computationally efficient vehicle models are essential for motion planning of autonomous vehicles, where positional accuracy directly affects trajectory feasibility and safety. However, the positional accuracy has not been systematically evaluated against real measurements. Therefore, this paper compares the short-horizon positional accuracy of three single-track vehicle models against vehicle measurements across various driving maneuvers. Model parameters are identified through dedicated experiments with the instrumented test vehicle. Rather than identifying a single best model, this work aims to provide insight into the trade-offs between model complexity, parameterization quality, and positional accuracy for informed model selection in Model Predictive Control applications.