Kinematic and dynamic vehicle models for autonomous driving control design

We study the use of kinematic and dynamic vehicle models for model-based control design used in autonomous driving. In particular, we analyze the statistics of the forecast error of these two models by using experimental data. In addition, we study the effect of discretization on forecast error. We use the results of the first part to motivate the design of a controller for an autonomous vehicle using model predictive control (MPC) and a simple...