Fig. 10: Vehicle and constant turn ratio and velocity (CTRV) model.
From: Haptics based multi-level collaborative steering control for automated driving
a Representation of the single track vehicle model used for the calculation of the yaw rate γm from the manual deviation θm. β is the side slip angle, vx is the longitudinal velocity, and io is the overall gear ratio from the steering angle to the tire angle δm. lf and lr are the distance from the gravity center to the front and rear axles, respectively. b CTRV model for the calculation of the driver desired lateral deviation Δyd when the vehicle moves with the constant yaw rate γm and longitudinal velocity vx during a time horizon ts. Representation of the lateral deviation caused by the manual intervention is made in the Frenet coordinate. The AD trajectory is represented on the s-axis and any deviation from it corresponds to a relative displacement along the d-axis as Δyv.
