mlsanityData to 7 Oct 2026

Numerically Stable Dynamic Bicycle Model for Discrete-time Control

arXiv 2011.09612 ↗First posted 19 Nov 2020eess.SY cs.SYcited by 15

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Abstract (arXiv)

Dynamic/kinematic model is of great significance in decision and control of intelligent vehicles. However, due to the singularity of dynamic models at low speed, kinematic models have been the only choice under many driving scenarios. This paper presents a discrete dynamic bicycle model feasible at any low speed utilizing the concept of backward Euler method. We further give a sufficient condition, based on which the numerical stability is proved. Simulation verifies that (1) the proposed model is numerically stable while the forward-Euler discretized dynamic model diverges; (2) the model reduces forecast error by up to 49% compared to the kinematic model. As far as we know, it is the first time that a dynamic bicycle model is qualified for urban driving scenarios involving stop-and-go tasks.

Key facts. Cited by 15 papers in the map (data through 7 Oct 2026). First posted on arXiv 19 Nov 2020.

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Citing papers per year: 2021: 5; 2022: 5; 2023: 0; 2024: 3; 2025: 2.

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  1. 2021Model-based Constrained Reinforcement Learning using Generalized Control Barrier Functioncited by 30
  2. 2021Integrated Decision and Control: Towards Interpretable and Computationally Efficient Driving Intelligencecited by 25
  3. 2021Self-learned Intelligence for Integrated Decision and Control of Automated Vehicles at Signalized Intersectionscited by 5
  4. 2021Integrated Decision and Control at Multi-Lane Intersections with Mixed Traffic Flowcited by 4
  5. 2021Learn Zero-Constraint-Violation Policy in Model-Free Constrained Reinforcement Learningcited by 4
  6. 2024Enhance Planning with Physics-informed Safety Controller for End-to-end Autonomous Drivingcited by 4
  7. 2022Improve Generalization of Driving Policy at Signalized Intersections with Adversarial Learningcited by 2
  8. 2025Risk-Aware Reinforcement Learning for Autonomous Driving: Improving Safety When Driving through Intersectioncited by 2
  9. 2025VLM-UDMC: VLM-Enhanced Unified Decision-Making and Motion Control for Urban Autonomous Drivingcited by 2
  10. 2022Zeroth-Order Actor-Critic: An Evolutionary Framework for Sequential Decision Problemscited by 1
  11. 2022Safe Reinforcement Learning with Probabilistic Control Barrier Functions for Ramp Mergingcited by 1
  12. 2024Policy Bifurcation in Safe Reinforcement Learningcited by 1
3 more
  1. 2022Performance-Driven Controller Tuning via Derivative-Free Reinforcement Learningcited by 0
  2. 2022Integrated Decision and Control for High-Level Automated Vehicles by Mixed Policy Gradient and Its Experiment Verificationcited by 0
  3. 2024Steady-State Error Compensation for Reinforcement Learning with Quadratic Rewardscited by 0