A semi-implicit Euler discretization of the single-track vehicle model gives explicit lateral-velocity and yaw-rate updates whose denominators no longer vanish at zero speed.
Nu- merical methods in vehicle system dynamics: state of the art and current developments
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An Explicit Discrete-Time Dynamic Vehicle Model with Assured Numerical Stability
A semi-implicit Euler discretization of the single-track vehicle model gives explicit lateral-velocity and yaw-rate updates whose denominators no longer vanish at zero speed.