Abstract- Autonomous vehicles have been the subject of research for recent years. Most of the research
are focused on the design and development of control algorithm for vehicle motion. However, dynamic
modeling of autonomous vehicle is very important as they are designed to travel at high speed and to have
good handling responses. This paper presents and discusses the dynamic modeling of a small scale
vehicle to be used as autonomous vehicle in order to study the dynamic behavior of real autonomous
vehicle. The dynamic model is developed based on the real scale vehicle and is simulated using parameter
from the small scale vehicle. An instrumented experimental small scale vehicle with the corresponding
parameter is developed and tested to obtain the dynamic behavior for some steering inputs. The results
from the experiment are compared to the simulation results. The simulations results show a good
agreement with the experimental results. Some handling parameters are estimated from the experiment.
Keywords: autonomous, handling, dynamic behavior, instrumented experimental small scale vehicle
Dengan asumsi Fxf bernilai nol dan sudut 2.3. Parameter Simulasi
kemudi bernilai kecil, persamaan gerak arah Pada model dinamik ini, parameter yang
lateral dan yaw dengan sudut kemudi sebagai digunakan adalah berdasarkan model
variabel input maka: kendaraan skala kecil yang digunakan. Tabel
2.1 mentabulasikan parameter-parameter yang
. 2l1Cf 2l2Cr digunakan dalam simulasi model dinamik
m V y mV x z
Vx
tersebut.
2Cf 2Cr
V y 2Cf f (t ) ....... (12 ) Tabel 2. 1 Parameter yang digunakan pada
Vx simulasi