Abstract:
This paper presents the first survey of vehicle dynamics modeling methods for autonomous racing. Previous surveys have covered dynamics models for standard autonomous veh...Show MoreMetadata
Abstract:
This paper presents the first survey of vehicle dynamics modeling methods for autonomous racing. Previous surveys have covered dynamics models for standard autonomous vehicles or, alternatively, concentrated on planning and control methods in autonomous racing with vehicle dynamics models briefly mentioned. However, previous surveys overlook the importance of vehicle dynamics under challenging conditions of top speeds and non-steady state driving, which are unique characteristics in autonomous racing. Recognizing the vital role of vehicle dynamics modeling in an autonomous racecar's prediction, planning, and control modules, this survey seeks to ascertain to what degree the nominal full-scale racecar dynamics can be streamlined without sacrificing accuracy for simplicity. Furthermore, this survey provides essential guidance for organizers of virtual autonomous races, helping them choose vehicle dynamics models that meet the required level of precision. This paper begins with a review of previous surveys on vehicle dynamics modeling, highlighting their limitations in the context of autonomous racing. Following this, it investigates the existing dynamics models for autonomous racing vehicles, along with a comprehensive examination of the existing physical/virtual testing platforms. The paper concludes by discussing emerging trends and offering perspectives in the field of vehicle dynamics modeling for autonomous racing, paving the way for groundbreaking research and innovations in autonomous racing.
Published in: IEEE Transactions on Intelligent Vehicles ( Volume: 9, Issue: 3, March 2024)
Funding Agency:
College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
Tantan Zhang received the B.S. degree from Hunan University, Changsha, China, in 2012, the double M.S. degrees from both Politecnico di Torino, Turin, Italy, and Tongji University, China, in 2015, and the Ph.D. degree from Politecnico di Torino, Torino, Italy, in 2020. He is currently an Assistant Professor with the College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China. His research focuses on m...Show More
Tantan Zhang received the B.S. degree from Hunan University, Changsha, China, in 2012, the double M.S. degrees from both Politecnico di Torino, Turin, Italy, and Tongji University, China, in 2015, and the Ph.D. degree from Politecnico di Torino, Torino, Italy, in 2020. He is currently an Assistant Professor with the College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China. His research focuses on m...View more
College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
Yueshuo Sun received the B.S. degree in automation from the Hefei University of Technology, Hefei, China, in 2023. He is currently working toward the M.S. degree with the College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China. His research focuses on the trajectory planning of autonomous racing vehicles.
Yueshuo Sun received the B.S. degree in automation from the Hefei University of Technology, Hefei, China, in 2023. He is currently working toward the M.S. degree with the College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China. His research focuses on the trajectory planning of autonomous racing vehicles.View more
College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
Yazhou Wang received the B.S. degree in vehicle engineering from Hunan University, Changsha, China, where he is currently working toward the master's degree with the College of Mechanical and Vehicle Engineering. His research interests include intelligent vehicle systems, with specific emphasis on decision making, trajectory planning, control, and software engineering aspects.
Yazhou Wang received the B.S. degree in vehicle engineering from Hunan University, Changsha, China, where he is currently working toward the master's degree with the College of Mechanical and Vehicle Engineering. His research interests include intelligent vehicle systems, with specific emphasis on decision making, trajectory planning, control, and software engineering aspects.View more
College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
Bai Li (Senior Member, IEEE) received the B.S. degree from Beihang University, Beijing, China, in 2013, and the Ph.D. degree from Zhejiang University, Hangzhou, China, in 2018. From November 2016 to June 2017, he visited the University of Michigan, Ann Arbor, MI, USA, as a joint training Ph.D. student. He is currently an Associate Professor with Hunan University, Changsha, China. Before teaching in Hunan University, he wa...Show More
Bai Li (Senior Member, IEEE) received the B.S. degree from Beihang University, Beijing, China, in 2013, and the Ph.D. degree from Zhejiang University, Hangzhou, China, in 2018. From November 2016 to June 2017, he visited the University of Michigan, Ann Arbor, MI, USA, as a joint training Ph.D. student. He is currently an Associate Professor with Hunan University, Changsha, China. Before teaching in Hunan University, he wa...View more
State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Yonglin Tian (Member, IEEE) received the Ph.D. degree in control science and engineering from the University of Science and Technology of China, Hefei, China, in 2022. He is currently a Postdoctoral Researcher with the State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China. His research interests include computer vision, intelligent transpor...Show More
Yonglin Tian (Member, IEEE) received the Ph.D. degree in control science and engineering from the University of Science and Technology of China, Hefei, China, in 2022. He is currently a Postdoctoral Researcher with the State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China. His research interests include computer vision, intelligent transpor...View more
State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Fei-Yue Wang (Fellow, IEEE) received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute, Troy, NY, USA, in 1990. In 1990, he joined the University of Arizona, Tucson, AZ, USA, and became a Professor and the Director of Robotics and Automation Laboratory and the Program in Advanced Research for Complex Systems. In 1999, he founded the Intelligent Control and Systems Engineering Cente...Show More
Fei-Yue Wang (Fellow, IEEE) received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute, Troy, NY, USA, in 1990. In 1990, he joined the University of Arizona, Tucson, AZ, USA, and became a Professor and the Director of Robotics and Automation Laboratory and the Program in Advanced Research for Complex Systems. In 1999, he founded the Intelligent Control and Systems Engineering Cente...View more
Contents College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
Tantan Zhang received the B.S. degree from Hunan University, Changsha, China, in 2012, the double M.S. degrees from both Politecnico di Torino, Turin, Italy, and Tongji University, China, in 2015, and the Ph.D. degree from Politecnico di Torino, Torino, Italy, in 2020. He is currently an Assistant Professor with the College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China. His research focuses on motion planning of automated vehicles.
Tantan Zhang received the B.S. degree from Hunan University, Changsha, China, in 2012, the double M.S. degrees from both Politecnico di Torino, Turin, Italy, and Tongji University, China, in 2015, and the Ph.D. degree from Politecnico di Torino, Torino, Italy, in 2020. He is currently an Assistant Professor with the College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China. His research focuses on motion planning of automated vehicles.View more
College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
Yueshuo Sun received the B.S. degree in automation from the Hefei University of Technology, Hefei, China, in 2023. He is currently working toward the M.S. degree with the College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China. His research focuses on the trajectory planning of autonomous racing vehicles.
Yueshuo Sun received the B.S. degree in automation from the Hefei University of Technology, Hefei, China, in 2023. He is currently working toward the M.S. degree with the College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China. His research focuses on the trajectory planning of autonomous racing vehicles.View more
College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
Yazhou Wang received the B.S. degree in vehicle engineering from Hunan University, Changsha, China, where he is currently working toward the master's degree with the College of Mechanical and Vehicle Engineering. His research interests include intelligent vehicle systems, with specific emphasis on decision making, trajectory planning, control, and software engineering aspects.
Yazhou Wang received the B.S. degree in vehicle engineering from Hunan University, Changsha, China, where he is currently working toward the master's degree with the College of Mechanical and Vehicle Engineering. His research interests include intelligent vehicle systems, with specific emphasis on decision making, trajectory planning, control, and software engineering aspects.View more
College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
Bai Li (Senior Member, IEEE) received the B.S. degree from Beihang University, Beijing, China, in 2013, and the Ph.D. degree from Zhejiang University, Hangzhou, China, in 2018. From November 2016 to June 2017, he visited the University of Michigan, Ann Arbor, MI, USA, as a joint training Ph.D. student. He is currently an Associate Professor with Hunan University, Changsha, China. Before teaching in Hunan University, he was with JDX R&D Center of Automated Driving, JD Inc., China, as an Algorithm Engineer, from 2018 to 2020. He has been the first author of nearly 90 journal/conference papers and two books in numerical optimization, motion planning, and robotics. His research focuses on optimization-based motion planning for intelligent vehicles. He was the recipient of the International Federation of Automatic Control (IFAC) during 2014–2016 Best Journal Paper Prize from Engineering Applications of Artificial Intelligence. He was the recipient of the 2022 Best Associate Editor Award of IEEE Transactions on Intelligent Vehicles. He is currently an Associate Editor for IEEE Transactions on Intelligent Vehicles.
Bai Li (Senior Member, IEEE) received the B.S. degree from Beihang University, Beijing, China, in 2013, and the Ph.D. degree from Zhejiang University, Hangzhou, China, in 2018. From November 2016 to June 2017, he visited the University of Michigan, Ann Arbor, MI, USA, as a joint training Ph.D. student. He is currently an Associate Professor with Hunan University, Changsha, China. Before teaching in Hunan University, he was with JDX R&D Center of Automated Driving, JD Inc., China, as an Algorithm Engineer, from 2018 to 2020. He has been the first author of nearly 90 journal/conference papers and two books in numerical optimization, motion planning, and robotics. His research focuses on optimization-based motion planning for intelligent vehicles. He was the recipient of the International Federation of Automatic Control (IFAC) during 2014–2016 Best Journal Paper Prize from Engineering Applications of Artificial Intelligence. He was the recipient of the 2022 Best Associate Editor Award of IEEE Transactions on Intelligent Vehicles. He is currently an Associate Editor for IEEE Transactions on Intelligent Vehicles.View more
State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Yonglin Tian (Member, IEEE) received the Ph.D. degree in control science and engineering from the University of Science and Technology of China, Hefei, China, in 2022. He is currently a Postdoctoral Researcher with the State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China. His research interests include computer vision, intelligent transportation systems, and autonomous racing system development.
Yonglin Tian (Member, IEEE) received the Ph.D. degree in control science and engineering from the University of Science and Technology of China, Hefei, China, in 2022. He is currently a Postdoctoral Researcher with the State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China. His research interests include computer vision, intelligent transportation systems, and autonomous racing system development.View more
State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Fei-Yue Wang (Fellow, IEEE) received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute, Troy, NY, USA, in 1990. In 1990, he joined the University of Arizona, Tucson, AZ, USA, and became a Professor and the Director of Robotics and Automation Laboratory and the Program in Advanced Research for Complex Systems. In 1999, he founded the Intelligent Control and Systems Engineering Center, Institute of Automation, Chinese Academy of Sciences (CAS), Beijing, China, under the support of Outstanding Chinese Talents Program from State Planning Council, and in 2002, he was appointed as the Director of the Key Laboratory of Complex Systems and Intelligence Science, CAS, and the Vice President of the Institute of Automation, CAS, in 2006. In 2011, he became the State Specially Appointed Expert and the Founding Director of the State Key Laboratory for Management and Control of Complex Systems. He has been the Chief Judge of Intelligent Vehicles Future Challenge, since 2009 and the Director of China Intelligent Vehicles Proving Center with Changshu, since 2015. He is currently the Director of Intel's International Collaborative Research Institute on Parallel Driving with CAS and Tsinghua University, Beijing, China. His research interests include methods and applications for parallel intelligence, social computing, and knowledge automation. He is a Fellow of INCOSE, IFAC, ASME, and AAAS. In 2007, he was the recipient of the National Prize in Natural Sciences of China, numerous best papers awards from IEEE Transactions, and became an Outstanding Scientist of ACM for his work in intelligent control and social computing. He was the recipient of IEEE Intelligent Transportation Systems Society outstanding Application and Research awards in 2009, 2011, and 2015, respectively, IEEE Systems, Man, and Cybernetics Society Norbert Wiener Award in 2014, and became the IFAC Pavel J. Nowacki Distinguished Lecturer in 2021. Since 1997, he has been the General or Program Chair of more than 30 IEEE, INFORMS, IFAC, ACM, and ASME conferences. He was the President of IEEE Intelligent Transportation Systems Society from 2005 to 2007, IEEE Council of RFID from 2019 to 2021, Chinese Association for Science and Technology, USA, in 2005, American Zhu Kezhen Education Foundation from 2007 to 2008, Vice President of the ACM China Council from 2010 to 2011, Vice President and Secretary General of the Chinese Association of Automation from 2008 to 2018, and Vice President of IEEE Systems, Man, and Cybernetics Society from 2019 to 2021. He was the Founding Editor-in-Chief (EIC) of International Journal of Intelligent Control and Systems from 1995 to 2000, IEEE Intelligence Systems Magazine from 2006 to 2007, IEEE/CAA Journal of Automatica Sinica from 2014 to 2017, China's Journal of Command and Control from 2015 to 2021, and Chinese Journal of Intelligent Science and Technology from 2019 to 2021. He was the EICs of IEEE Intelligence Systems from 2009 to 2012, IEEE Transactions on Intelligence Transportation Systems from 2009 to 2016, and IEEE Transactions on Computational Social Systems from 2017 to 2020. He is also the President of CAA's Supervision Council, and the EIC of IEEE Transportation on Intelligence Vehicles.
Fei-Yue Wang (Fellow, IEEE) received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute, Troy, NY, USA, in 1990. In 1990, he joined the University of Arizona, Tucson, AZ, USA, and became a Professor and the Director of Robotics and Automation Laboratory and the Program in Advanced Research for Complex Systems. In 1999, he founded the Intelligent Control and Systems Engineering Center, Institute of Automation, Chinese Academy of Sciences (CAS), Beijing, China, under the support of Outstanding Chinese Talents Program from State Planning Council, and in 2002, he was appointed as the Director of the Key Laboratory of Complex Systems and Intelligence Science, CAS, and the Vice President of the Institute of Automation, CAS, in 2006. In 2011, he became the State Specially Appointed Expert and the Founding Director of the State Key Laboratory for Management and Control of Complex Systems. He has been the Chief Judge of Intelligent Vehicles Future Challenge, since 2009 and the Director of China Intelligent Vehicles Proving Center with Changshu, since 2015. He is currently the Director of Intel's International Collaborative Research Institute on Parallel Driving with CAS and Tsinghua University, Beijing, China. His research interests include methods and applications for parallel intelligence, social computing, and knowledge automation. He is a Fellow of INCOSE, IFAC, ASME, and AAAS. In 2007, he was the recipient of the National Prize in Natural Sciences of China, numerous best papers awards from IEEE Transactions, and became an Outstanding Scientist of ACM for his work in intelligent control and social computing. He was the recipient of IEEE Intelligent Transportation Systems Society outstanding Application and Research awards in 2009, 2011, and 2015, respectively, IEEE Systems, Man, and Cybernetics Society Norbert Wiener Award in 2014, and became the IFAC Pavel J. Nowacki Distinguished Lecturer in 2021. Since 1997, he has been the General or Program Chair of more than 30 IEEE, INFORMS, IFAC, ACM, and ASME conferences. He was the President of IEEE Intelligent Transportation Systems Society from 2005 to 2007, IEEE Council of RFID from 2019 to 2021, Chinese Association for Science and Technology, USA, in 2005, American Zhu Kezhen Education Foundation from 2007 to 2008, Vice President of the ACM China Council from 2010 to 2011, Vice President and Secretary General of the Chinese Association of Automation from 2008 to 2018, and Vice President of IEEE Systems, Man, and Cybernetics Society from 2019 to 2021. He was the Founding Editor-in-Chief (EIC) of International Journal of Intelligent Control and Systems from 1995 to 2000, IEEE Intelligence Systems Magazine from 2006 to 2007, IEEE/CAA Journal of Automatica Sinica from 2014 to 2017, China's Journal of Command and Control from 2015 to 2021, and Chinese Journal of Intelligent Science and Technology from 2019 to 2021. He was the EICs of IEEE Intelligence Systems from 2009 to 2012, IEEE Transactions on Intelligence Transportation Systems from 2009 to 2016, and IEEE Transactions on Computational Social Systems from 2017 to 2020. He is also the President of CAA's Supervision Council, and the EIC of IEEE Transportation on Intelligence Vehicles.View more