Lec 03 | Vehicle Dynamics | Kinematic Bicycle (part 2 - derivation)

In lecture 2, we motivated the kinematic bicycle model through examples from
1. The gaming industry
2. The world of self-driving cars.
In this video, we derive its equations of motion.

[@EngineeringSimplified]

Great video! I love that you keep these videos short and right to the point. Plus the choice of the colors is perfect- helps greatly to understand and to emphasize specific things.

[@howdynamic6529]

Thank you :)

[@matiasroulle8910]

I have started to look forward to your lectures now!

[@howdynamic6529]

Thanks Matias!

[@orientasiprodikelasA]

Hi, nice video
Could I convert the equation of kinematical bicycle model to state space ?
Answer me, please. Thank you

[@yassinebarhoumi6973]

Interesting, thank you!

[@howdynamic6529]

:)

[@doughitching7039]

It'd be cool if you could compare the dynamic model with the kinematic one

[@aarjanbudathoki2085]

how does steering angle(delta) changes with respect to input W(omega) of the bicycle

[@binottovan6087]

Why is v * cos (beta) the longitudinal velocity of the bicycle?

[@howdynamic6529]

I am assuming you followed why V * cos (psi + beta) is the velocity along the world frame’s X axis. You are essentially taking the dot product between your vector of interest( in this case the velocity vector) and the unit vector along which you are interested in knowing your vector’s component.
Since the angle between the velocity vector and the world frame X axis is beta + psi, this evaluated to v * cos(psi + beta).
The angle between the velocity vector and the bicycle’s longitudinal axis is beta. So pattern matching should tell you it is v * cos(beta)

[@Alex-w7q8f]

what is the radius of curvature CRA meaning

[@vipinthomas7309]

👍