briann92 / vehicle-models

Building models that capture vehicle dynamics

Vehicle Model

Welcome to the "vehicle-model" repository. This repository includes implementations of single-track vehicle models, both dynamic and kinematic, tailored for simulation and analysis of vehicle dynamics.

Repository Structure

The repository is organized into a primary scripts folder, which contains three key subdirectories:

• data/: Contains data collected from practice runs by a full-sized Indy racecar, as well as racetrack reference lines for simulation purposes.
• tire_model/: Includes the implementation of the Pacejka tire model (focused on lateral dynamics only). For a complete model, please refer to Pacejka Tire Model.
• veh_models/: Consists of a dynamic single-track model and a kinematic single-track model. Additionally, a validation script dynamic_validation.py is provided to visualize the correlation between model predictions and ground truth measurements.

Usage

To use the models and scripts provided in this repository:

1. Navigate to the scripts directory.
2. Explore the data directory for real-world racecar data and track references.
3. For tire dynamics, look into the tire_model directory.
4. The veh_models directory contains the vehicle models and the validation script.

Run the validation script to compare the dynamic model predictions with actual data:

python dynamic_validation.py