A Survey of Vehicle Dynamics Modeling Methods for Autonomous Racing: Theoretical Models, Physical/Virtual Platforms, and Perspectives

Abstract

This paper presents the first survey of vehicle dynamics modeling methods for autonomous racing. Previous surveys have covered dynamics models for standard autonomous vehicles or, alternatively, concentrated on planning and control methods in autonomous racing with vehicle dynamics models briefly mentioned. However, previous surveys overlook the importance of vehicle dynamics under challenging conditions of top speeds and non-steady state driving, which are unique characteristics in autonomous racing. Recognizing the vital role of vehicle dynamics modeling in an autonomous racecar's prediction, planning, and control modules, this survey seeks to ascertain to what degree the nominal full-scale racecar dynamics can be streamlined without sacrificing accuracy for simplicity. Furthermore, this survey provides essential guidance for organizers of virtual autonomous races, helping them choose vehicle dynamics models that meet the required level of precision. This paper begins with a review of previous surveys on vehicle dynamics modeling, highlighting their limitations in the context of autonomous racing. Following this, it investigates the existing dynamics models for autonomous racing vehicles, along with a comprehensive examination of the existing physical/virtual testing platforms. The paper concludes by discussing emerging trends and offering perspectives in the field of vehicle dynamics modeling for autonomous racing, paving the way for groundbreaking research and innovations in autonomous racing.