Wrong calculation for low FPS

[rhalaly]

For lower FPS values the results of the calculations are wrong.

For fps = 50 everything works just fine, but I wanted to simulate fps = 1 (to see where the vehicle will be every 1 second) but the algorithm crash.

I found that for dt >= 0.073 the algorithm crash... Is there any way to use the code for higher dts?

[winstxnhdw]

Hello @rhalaly,

The program crashes when dt = 1 because f_load grows many magnitudes larger than the throttle value within only a few iterations. Recall that all discrete bicycle models, including this one, only work with the assumption that the value of each time step is tiny and the vehicle's velocity is set to a reasonable value. This is because at large time steps and extremely high speeds, we lose important information of the vehicle's state in between each iteration. This is the biggest limitations of all discrete models.

I believe that you are looking for a continuous bicycle model which would come with its own set of limitations and does not exist as of writing. The closest thing I have in mind is the Coordinated Turn Model that my good friend, @reuben-thomas, painstakingly wrote in Desmos, based on this paper.