Dynamic Models

This file contains all numba just-in-time compiled function for the dynamic models.

module dynamic_models

Functions

accl_constraints(vel, accl, v_switch, a_max, v_min, v_max)

Acceleration constraints, adjusts the acceleration based on constraints

    Args:
        vel (float): current velocity of the vehicle
        accl (float): unconstraint desired acceleration
        v_switch (float): switching velocity (velocity at which the acceleration is no longer able to create wheel spin)
        a_max (float): maximum allowed acceleration
        v_min (float): minimum allowed velocity
        v_max (float): maximum allowed velocity

    Returns:
        accl (float): adjusted acceleration

steering_constraint(steering_angle, steering_velocity, s_min, s_max, sv_min, sv_max)

Steering constraints, adjusts the steering velocity based on constraints

    Args:
        steering_angle (float): current steering_angle of the vehicle
        steering_velocity (float): unconstraint desired steering_velocity
        s_min (float): minimum steering angle
        s_max (float): maximum steering angle
        sv_min (float): minimum steering velocity
        sv_max (float): maximum steering velocity

    Returns:
        steering_velocity (float): adjusted steering velocity

vehicle_dynamics_ks(x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)

Single Track Kinematic Vehicle Dynamics.

    Args:
        x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5)
            x1: x position in global coordinates
            x2: y position in global coordinates
            x3: steering angle of front wheels
            x4: velocity in x direction
            x5: yaw angle
        u (numpy.ndarray (2, )): control input vector (u1, u2)
            u1: steering angle velocity of front wheels
            u2: longitudinal acceleration 

    Returns:
        f (numpy.ndarray): right hand side of differential equations

vehicle_dynamics_st(x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)

Single Track Dynamic Vehicle Dynamics.

    Args:
        x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5, x6, x7)
            x1: x position in global coordinates
            x2: y position in global coordinates
            x3: steering angle of front wheels
            x4: velocity in x direction
            x5: yaw angle
            x6: yaw rate
            x7: slip angle at vehicle center
        u (numpy.ndarray (2, )): control input vector (u1, u2)
            u1: steering angle velocity of front wheels
            u2: longitudinal acceleration 

    Returns:
        f (numpy.ndarray): right hand side of differential equations

pid(speed, steer, current_speed, current_steer, max_sv, max_a, max_v, min_v)

Basic controller for speed/steer -> accl./steer vel.

    Args:
        speed (float): desired input speed
        steer (float): desired input steering angle

    Returns:
        accl (float): desired input acceleration
        sv (float): desired input steering velocity