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4DoF Single Track Vehicle Model (3DoF chassis + 1DoF tires)

version 4.0 (100 KB) by Srivatsan Srinivasan
The single track /non-linear/bicycle model. Discrete time model with euler forward integration. Can be compiled into RT code.


Updated 21 Jan 2021

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The simulink file contains a working 4 degree of freedom vehicle model for yaw stability studies. You can switch between asphalt, wet asphalt, ice and snow road conditions. Please go through the ReadMe file.

Model built using equations in:

Berntorp, K., Olofsson, B., Lundahl, K., & Nielsen, L. (2014).
Models and methodology for optimal trajectory generation in safety-critical road-vehicle manoeuvres.
Vehicle System Dynamics, 52(10), 1304–1332.

Cite As

Srivatsan Srinivasan (2021). 4DoF Single Track Vehicle Model (3DoF chassis + 1DoF tires) (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2020a
Compatible with R2017a and later releases
Platform Compatibility
Windows macOS Linux

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