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.
Vehicle dynamics applications of optimal control theory.Vehicle System Dynamics, 49(7):1073–1111, 2011
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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.