Matlab Single-Track Model

Modeling and simulating a single-track model in Matlab.

Thereby different maneuvers can be simulated.

Simulate

SingleTrack.m

• Select how the rear wheel should behave
• Simulate

Plot

• Vehicle frame with four wheels on each side (real wheels)
• Single-track model with two wheels in center of vehicle (theoretical)
• blue lines marking radius from a real wheel to center of rotation
• green lines marking radius from single-track wheels to center of rotation

Examples

• Example where front and rear wheel set perform inverse steering

• Example where rear wheel set is fixed - like a normal car

• Example where front and rear wheel set perform same steering

TODO

• Adjust C_f/C_r (cornering stiffness) curve in Simulink model

Requirements

• Matlab (>=) 2016b