car_model.md

motion of vehicle:

1. longitudinal dynamics (basic forward-backward motion):

   • a) engine force: torque produced by the engine divided by the wheel

   • b). aerodynamic drag (Fdrag): Proportional to the square of the vehicle's speed

   • c) rolling resistance (Frolling): constant force opposing motion .

   • d) the net force Fnet in longitudinal direction

     

2. Lateral dynamics (side to side motion): a) Cornering Force: proportional to the tire slip angle

   

   assuming here there is no other significant lateral forces, so Flateral = Fcornering, we shall add slip angles, cornering stiffness

   

3. equations of motion

   

4. braking: implemented braking as a negative torque, which opposes the motion of vehicle e.x., F_brake

5. traction control: means prevent wheel spin during acceleration by detecting wheel spin and reducing engine torque or applying brake force to specific wheels.

6. Turning control.

   dx/dt = v * cos(θ + δ) dy/dt = v * sin(θ + δ) dθ/dt = v / L * sin(δ)