Bases: VehicleParameters
Parameters of a BMW 3series vehicle.
Vehicle parameters are taken from: "CommonRoad Vehicle Models and Cost Functions" (vehicle ID: 2)
" M. Althoff, M. Koschi and S. Manzinger, "CommonRoad: Composable benchmarks for motion planning on roads,"
IEEE Intelligent Vehicles Symposium, 2017, pp. 719-726"
Source code in commonroad_control/vehicle_parameters/BMW3series.py
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49 | @dataclass(frozen=True)
class BMW3seriesParams(VehicleParameters):
"""
Parameters of a BMW 3series vehicle.
Vehicle parameters are taken from: "CommonRoad Vehicle Models and Cost Functions" (vehicle ID: 2)
" M. Althoff, M. Koschi and S. Manzinger, "CommonRoad: Composable benchmarks for motion planning on roads,"
IEEE Intelligent Vehicles Symposium, 2017, pp. 719-726"
"""
l_wb: float = 2.578
l_f: float = 1.156
l_r: float = 1.422
m: float = 1093.0
I_zz: float = 1791.0
C_f: float = 20.89 * 1.048
C_r: float = 20.89 * 1.048
h_cog: float = 0.574
a_long_max: float = 11.5
a_lat_max: float = 11.5
steering_angle_max: float = 1.066
steering_angle_velocity_max: float = 0.4
# dynamic bicycle model: parameters of Gaussian disturbance
disturbance_gaussian_mean: DBDisturbance = DBSIDTFactory.disturbance_from_args()
disturbance_gaussian_std: DBDisturbance = DBSIDTFactory.disturbance_from_args(
velocity_long=0.5, velocity_lat=0.3, yaw_rate=0.025
)
# full state feedback for dynamic bicycle model: parameters of Gaussian noise
noise_gaussian_mean: UncertaintyInterface = DBNoise()
noise_gaussian_std: UncertaintyInterface = DBNoise(
position_x=0.075,
position_y=0.075,
)
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