A simple verification of non-linear dynamic model based on Python simulation

Abstract

This paper verified that the non-linear dynamic model of a car is more realistic than linear model. Trajectories are drawn using these two alternative models. It has been demonstrated that the U-turn trajectory of the non-linear model is nearly identical to the linear one yet differs appreciably in lane change. When the difference between these two models can be ignored if the slip angle is less than 1 degree. When the slip angle is increased, however, the consequences are drastically different. It is a significant feature that distinguishes non-linear models from linear models, which also reflect more of the real world. Original code can be found in the Appendix.