Vehicle Dynamic Models for Virtual Testing of Autonomous Trucks

Abstract: The simulator in a testing environment for trucks is dependent on accurate vehicle dynamic models. There are multiple models at Volvo, all developed to support the objectives of individual research. A selection of four, named Single Track model (STM), Global Simulation Platform (GSP), One-Track Model with linear slip (OTM) and Volvo Transport Model (VTM), are evaluated to examine the usage of them. Four different scenarios are therefore generated to emulate common situations in traffic. Depending on the results, the models and their corresponding limitsforusagearedescribed. Theevaluationismadebycomparingallmodelsto the best model for each scenario by measuring the normalized error distribution. It is shown that at certain thresholds, other models can perform close enough to the best model. In the end of the report, future improvements for the evaluated models and external models are suggested.