03. The CTRV Model State Vector

State Vector Introduction

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A diagram of the CTRV model.

A diagram of the CTRV model.

In the following quizzes, you'll be using state vectors to draw qualitative observations about the motion of turning objects.

General State Vector

x=[pxpyvψψ˙] x = \begin{bmatrix} p_x\\ p_y\\ v\\ \psi\\ \dot{\psi} \end{bmatrix}

State Vector 1

x=[2 m4 m7 m/s0.5 rad0.6 rad/s] x = \begin{bmatrix} 2 \space m\\ 4 \space m\\ 7 \space m/s\\ 0.5 \space rad\\ 0.6 \space rad/s \end{bmatrix}

State Vector 2

x=[2 m4 m7 m/s0.5 rad0 rad/s] x = \begin{bmatrix} 2 \space m\\ 4 \space m\\ 7 \space m/s\\ 0.5 \space rad\\ 0 \space rad/s \end{bmatrix}

State Vector 3

x=[2 m4 m9 m/s0.5 rad0.6 rad/s] x = \begin{bmatrix} 2 \space m\\ 4 \space m\\ 9 \space m/s\\ 0.5 \space rad\\ 0.6 \space rad/s \end{bmatrix}

Which of the above (☝) state vector(s) represent(s) a car driving on a straight path?

SOLUTION:
  • 2

Which of the above state vectors has the smallest turning radius?

SOLUTION: 1

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