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Fxing some typos in vehicle_model.py comments (#20220)

albatross
Marius Larsen 2021-03-03 11:40:22 +01:00 committed by GitHub
parent 8db3eea6c5
commit e998d6d93f
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1 changed files with 5 additions and 5 deletions
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10
selfdrive/controls/lib/vehicle_model.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python3
"""
Dynamic bycicle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
The state is x = [v, r]^T
with v lateral speed [m/s], and r rotational speed [rad/s]
@ -46,7 +46,7 @@ class VehicleModel:
def steady_state_sol(self, sa: float, u: float) -> np.ndarray:
"""Returns the steady state solution.
If the speed is too small we can't use the dynamic model (tire slip is undefined),
If the speed is too low we can't use the dynamic model (tire slip is undefined),
we then have to use the kinematic model
Args:
@ -155,8 +155,8 @@ def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, n
A tuple with the 2x2 A matrix, and 2x1 B matrix
Parameters in the vehicle model:
cF: Tire stiffnes Front [N/rad]
cR: Tire stiffnes Front [N/rad]
cF: Tire stiffness Front [N/rad]
cR: Tire stiffness Front [N/rad]
aF: Distance from CG to front wheels [m]
aR: Distance from CG to rear wheels [m]
m: Mass [kg]
@ -177,7 +177,7 @@ def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, n
def dyn_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
"""Calculate the steady state solution when x_dot = 0,
Ax + Bu = 0 => x = A^{-1} B u
Ax + Bu = 0 => x = -A^{-1} B u
Args:
sa: Steering angle [rad]