A Physically Intuitive Yaw-Plane Bond Graph Model for Vehicle Active Safety System Design
Bibliographic record
Abstract
As a platform for simulation-based design of active safety systems, a nonlinear yaw-plane vehicle model has been developed. The Newton-Euler formulation with an Euler Junction Structure is used for the car body, with coordinate transformations to express the front wheel longitudinal and lateral forces in a local wheel reference frame. Tire modeling is done via a continuous function which captures peak longitudinal and lateral forces, and saturation. A friction ellipse correction is made to reduce lateral force capacity in the presence of tractive/braking force. Vehicle forward speed is variable through powertrain torque inputs. Parameters are based on a mid-sized sedan, with the engine represented by a torque-speed curve, braking by a modulated R element, and transmission by a modulated transformer with shift logic. A speed controller tracks a desired forward speed, while a driver model generates steering inputs based on yaw angle error and on lateral errors in a sequence of look-ahead points. Straight-line acceleration/braking and double lane-change maneuvers are performed to demonstrate the model's ability to simulate coupled longitudinal-lateral dynamics.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".