Dynamic Bicycle Model

Dynamic Bicycle Model

import math

dt = 0.1  # 单位：s
L = 5.0  # 单位：m
Lr = L / 2.0  # 单位：m
Lf = L - Lr
Cf = 1600.0 * 2.0  # 单位：N/rad
Cr = 1700.0 * 2.0  #单位： N/rad
Iz = 2250.0  #单位： kg/m2
m = 1500.0  # 单位：kg


class State:

    def __init__(self, x=0.0, y=0.0, yaw=0.0, vx=0.01, vy=0.0, omega=0.0):
        self.x = x
        self.y = y
        self.yaw = yaw
        self.vx = vx
        self.vy = vy