Unconstrained instantaneous center integration (ICI) algorithms

摘要

This paper presents several unique "instantaneous center integration" (ICI) algorithms for use in studying unconstrained vehicle motion using computer simulations and animations. Specifically, these algorithms are most appropriate for the case when high angular rates are present, such as would occur during tight cornering and/or possibly during an accident. The three ICI algorithms presented are the "pseudo-exact," first-order and second-order. The pseudo-exact algorithm is the most accurate, yet the most computationally expensive. The first-order algorithm is the least accurate and least computationally expensive. The second-order algorithm's accuracy is close to that of the pseudo-exact algorithm, yet is much less computationally expensive, and therefore the most appropriate one to use. The ICI algorithms are developed and compared to one another by observing the position errors and the actual trajectories for a baseline two-dimensional (2D) scenario. This scenario consists of a vehicle traversing a circular path at a constant speed. Finally, a practical study of the stability of the algorithm is presented as well.