自动驾驶课程笔记 longitudinal vehicle control 公式推导+代码作业

class Vehicle(Vehicle):
    def step(self, throttle, alpha):
        # ==================================
        #  Implement vehicle model here
        #wheel angular velocity
        w_w = self.GR*self.w_e
        #engine torque 
        Te = throttle*(self.a_0+self.a_1*self.w_e+self.a_2*self.w_e*self.w_e)
        F_areo = self.c_a*self.v*self.v
        Rx =self.c_r1*self.