Figure 2.28 – Ackerman Geometry Definitions. ................................................................ 38
Figure 2.29 – Simulink Block Diagram: Kinematical Vehicle Model.
Compact Form (a) and Extended Form (b). ...................................................................... 40
Figure 2.30 – Kinematical Model Validation Tests: Simulink Block Diagram. ................... 40
Figure 2.31 – Kinematical Model 1st Validation Test: Input. ............................................. 41
Figure 2.32 – Kinematical Model 1
st
Validation Test: Trajectory Comparison. ................. 42
Figure 2.33 – Kinematical Model 1
st
Validation Test: Orientation Comparison. ................ 42
Figure 2.34 – Kinematical Model 2
nd
Validation Test: Input. ............................................. 43
Figure 2.35 – Kinematical Model 2
nd
Validation Test:
Realized Trajectories Comparison. ................................................................................... 43
Figure 2.36 – Kinematical Model 2
nd
Validation Test: Orientation Comparison. ............... 43
Figure 3.1 - Track stretch Coordinate Calculus. ................................................................ 46
Figure 3.2 – Track Model Validation Test: Oval Circuit. .................................................... 47
Figure 3.3 – Graphic Representation of the Traveled Track Distance Correction. ........... 48
Figure 3.4 – Straight Line’s Projection Procedure. ............................................................ 49
Figure 3.5 – Curve’s Projection Procedure. ...................................................................... 52
Figure 3.6 – Traveled Distance Correction Validation Test: Projection Procedure. .......... 52
Figure 3.7 – Present-based Trajectory Error: Graphic Representation. ........................... 53
Figure 3.8 – Present-based Trajectory Error Validation 1
st
Test:
Simulink Block Diagram. ................................................................................................... 56
Figure 3.9 – Present-based Trajectory Error Validation 1
st
Test: Inputs. .......................... 57
Figure 3.10 – Present-based Trajectory Error Validation 1
st
Test: Outputs. ..................... 57
Figure 3.11 – Present-based Trajectory Error Validation 2
nd
Test: Inputs. ....................... 58
Figure 3.12 – Present-based Trajectory Error Validation Second Test: Outputs. ............. 59
Figure 3.13 – Future-based Trajectory Error: Graphic Representation. ........................... 60
Figure 3.14 – Future-based Trajectory Error Validation Tests:
Simulink Block Diagram. ................................................................................................... 62
Figure 3.15 – Future-based Trajectory Error Validation 1
st
Test: Inputs. .......................... 62
Figure 3.16 – Future-based Trajectory Error Validation 1
st
Test: Outputs. ....................... 63
Figure 3.17 – Future-based Trajectory Error Validation 2
nd
Test: Inputs. ......................... 64
Figure 3.18 – Future-based Trajectory Error Validation 2
nd
Test: Outputs. ...................... 65