Comparison of First-Principles and Experimental Vehicle Models

Abstract

This article deals with the development and comparison of different vehicle models to be used in vehicle dynamics control of an electric all-wheel drive vehicle in the future. The aim is to verify the accuracy of lateral and longitudinal motions of selected vehicle models based on two different approaches. Using first principles describing basic vehicle dynamics, single and the twin track vehicle models are derived in form of systems of nonlinear differential equations. Using experimental identification, five vehicle state space models of orders are identified based on measurements on a real vehicle. The experiments performed were three different test maneuvers. Vehicle models are then compared using the measured data with the simulation results in MATLAB.