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Merged
igsais merged 3 commits into from
Feb 28, 2026
Merged

Feature/arussim/car model update #72

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3ea8011
feat: update car parameters
jmlp05 Feb 18, 2026
8e957c8
feat: update controller_sim && fix: correct static load distribution
jmlp05 Feb 19, 2026
de14377
Merge branch 'main' into feature/arussim/car_model_update
igsais Feb 28, 2026
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39 changes: 20 additions & 19 deletions src/arussim/include/arussim/vehicle_dynamics.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,13 +60,13 @@ class VehicleDynamics

private:

double kMass = 260.0;
double kNsMassF = 25;
double kNsMassR = 25;
double kMass = 264.07; // Mass of the car + LiDAR
double kNsMassF = 17.0;
double kNsMassR = 24.302;
double kSMass = kMass - kNsMassF - kNsMassR;
double kIzz = 180;
double kIzz = 190;

double kMassDistributionRear = 0.54;
double kMassDistributionRear = 0.5689;
double kSMassF = kSMass * (1-kMassDistributionRear);
double kSMassR = kSMass * kMassDistributionRear;

Expand All @@ -75,48 +75,49 @@ class VehicleDynamics
double kLf = kWheelBase*kMassDistributionRear;
double kLr = kWheelBase*(1-kMassDistributionRear);

double kHCog = 0.26;
double kHCogNsF = 0.225;
double kHCogNsR = 0.225;
double kHCog = 0.27;
double kHCogNsF = 0.23;
double kHCogNsR = 0.23;
double kHRollCenterF = 0.033;
double kHRollCenterR = 0.097;
double kHRollAxis = kHRollCenterF + (kHRollCenterR - kHRollCenterF) * kLf / kWheelBase;

double kWheelRateF = 500*175.13 / std::pow(1.1,2); // spring_stiffness (N/m) / motion_ratio ^ 2
double kWheelRateR = 500*175.13 / std::pow(1.1,2);
double kWheelRateF = 105000 / std::pow(1.02,2); // spring_stiffness (N/mm) / motion_ratio ^ 2
double kWheelRateR = 105000 / std::pow(1.02,2);
double kRollStiffnessF = 0.5 * std::pow(kTrackWidth,2) * 0.01745 * kWheelRateF;
double kRollStiffnessR = 0.5 * std::pow(kTrackWidth,2) * 0.01745 * kWheelRateR;
double kRollStiffness = kRollStiffnessF + kRollStiffnessR;

double kAckermann = 0.6;
double kAckermann1 = 0.1175;
double kAckermann2 = 0.9724;

double kTireDynRadius = 0.225;
double kTireDynRadius = 0.23;
double kTireInertia = 0.4;

struct {
double Dlat = -1.6323;
double Dlat = -1.3323;
double Clat = 1.7230;
double Blat = 12.7;
double Elat = 0.4035;

double Dlon = 1.3976;
double Dlon = 1.1976;
double Clon = 1.9503;
double Blon = 17.49;
double Elon = 0.999;

double Gx1 = 25000;
double bx = 0.2367;
double a = 93733;
double a = 937330;
double c = 0.1689;
double Gy1 = 38.21;
double by = 0.5365;
} pac_param_;

double kRollingResistance = 100;
double kCDA = 1.97;
double kCLA = 4.75;
double kCOPx = 0.4604; //longitudinal distribution (rear)
double kCOPy = 0.517;
double kCDA = 1.5;
double kCLA = 3.6;
double kCOPx = 0.5795; //longitudinal distribution (rear)
double kCOPy = 0.31;
double kAirDensity = 1.225;

double x_dot_{0.0}, y_dot_{0.0}, vx_dot_{0.0}, vy_dot_{0.0}, r_dot_{0.0};
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2 changes: 1 addition & 1 deletion src/arussim/include/controller_sim
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Submodule controller_sim updated from 0db951 to 4e58c3
16 changes: 8 additions & 8 deletions src/arussim/src/vehicle_dynamics.cpp
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Expand Up @@ -146,8 +146,8 @@ void VehicleDynamics::calculate_tire_loads(){

tire_loads_.fl_ = kStaticLoadFront - lateral_load_transfer_front - longitudinal_load_transfer/2;
tire_loads_.fr_ = kStaticLoadFront + lateral_load_transfer_front - longitudinal_load_transfer/2;
tire_loads_.rl_ = kStaticLoadFront - lateral_load_transfer_rear + longitudinal_load_transfer/2;
tire_loads_.rr_ = kStaticLoadFront + lateral_load_transfer_rear + longitudinal_load_transfer/2;
tire_loads_.rl_ = kStaticLoadRear - lateral_load_transfer_rear + longitudinal_load_transfer/2;
tire_loads_.rr_ = kStaticLoadRear + lateral_load_transfer_rear + longitudinal_load_transfer/2;

double aero_lift = 0.5 * kAirDensity * kCLA * vx_*vx_;
double aero_drag = 0.5 * kAirDensity * kCDA * vx_*vx_;
Expand All @@ -167,12 +167,12 @@ void VehicleDynamics::calculate_tire_loads(){
void VehicleDynamics::calculate_ackermann(){
double delta_in_ackermann = std::atan( kWheelBase * std::tan(delta_) / (kWheelBase - std::abs(std::tan(delta_)) * kTrackWidth));

if(delta_ > 0){
delta_fl_ = kAckermann * (delta_in_ackermann - delta_) + delta_;
delta_fr_ = delta_;
if(delta_ <= 0){
delta_fl_ = kAckermann1 * (delta_in_ackermann - delta_) + delta_;
delta_fr_ = kAckermann2 * delta_;
} else {
delta_fl_ = delta_;
delta_fr_ = kAckermann * (delta_in_ackermann - delta_) + delta_;
delta_fl_ = kAckermann2 * delta_;
delta_fr_ = kAckermann1 * (delta_in_ackermann - delta_) + delta_;
}
}

Expand All @@ -194,7 +194,7 @@ void VehicleDynamics::calculate_tire_slip(){
double vx_rl = std::sqrt(vy_rear*vy_rear + vx_left*vx_left) * std::cos(tire_slip_.alpha_rl_);
double vx_rr = std::sqrt(vy_rear*vy_rear + vx_right*vx_right) * std::cos(tire_slip_.alpha_rr_);

double eps = 0.01;
double eps = 0.001;

tire_slip_.lambda_fl_ = kTireDynRadius * wheel_speed_.fl_ / (vx_fl + eps) - 1;
tire_slip_.lambda_fr_ = kTireDynRadius * wheel_speed_.fr_ / (vx_fr + eps) - 1;
Expand Down