Accurate and computationally efficient vehicle models are essential for motion planning of autonomous vehicles, where positional accuracy directly affects trajectory feasibility and safety. However, the positional accuracy has not been systematically evaluated against real measurements. Therefore, this paper compares the short-horizon positional accuracy of three single-track vehicle models against vehicle measurements across various driving maneuvers. Model parameters are identified through dedicated experiments with the instrumented test vehicle. Rather than identifying a single best model, this work aims to provide insight into the trade-offs between model complexity, parameterization quality, and positional accuracy for informed model selection in Model Predictive Control applications.

翻译：精确且计算高效的车辆模型对自动驾驶汽车的运动规划至关重要，其中位置精度直接影响轨迹可行性和安全性。然而，位置精度尚未根据实际测量进行系统评估。因此，本文比较了三种单轨车辆模型在不同行驶工况下的短时域位置精度与实车测量数据。模型参数通过使用搭载仪器的试验车辆进行专项实验来辨识。本文并非旨在确定单一最优模型，而是希望深入理解模型复杂度、参数化质量与位置精度之间的权衡关系，从而为模型预测控制应用中的明智模型选择提供依据。