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Interface

commonroad_control.vehicle_parameters.vehicle_parameters

VehicleParameters dataclass

Bases: ABC

Vehicle parameters.

Source code in commonroad_control/vehicle_parameters/vehicle_parameters.py 
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@dataclass(frozen=True)
class VehicleParameters(ABC):
    """
    Vehicle parameters.
    """

    l_wb: float  # wheelbase
    l_f: float  # distance front-axle to center of gravity
    l_r: float  # distance rear-axle to center of gravity
    m: float  # mass
    I_zz: float  # moment of inertia around the vertical axis
    C_f: float  # front tyre cornering stiffness
    C_r: float  # rear tyre cornering stiffness
    h_cog: float  # height of center of gravity
    a_long_max: float  # maximum longitudinal acceleration
    a_lat_max: float  # maximum lateral acceleration
    steering_angle_max: float  # maximum steering angle
    steering_angle_velocity_max: float  # maximum steering angle velocity
    g: float = 9.81  # gravitational acceleration