Metadata-Version: 2.1
Name: commonroad-vehicle-models
Version: 2.0.0
Summary: Implementation of vehicle models with varying abstraction levels ranging from kinematic single track model to a multi-body model.
Home-page: https://commonroad.in.tum.de/
Author: Cyber-Physical Systems Group, Technical University of Munich
Author-email: commonroad@lists.lrz.de
License: UNKNOWN
Description: # Python Vehicle Models of CommonRoad
        
        This package contains all vehicle models of the [CommonRoad benchmarks](https://commonroad.in.tum.de/).
        
        We provide implementations of the vehicle dynamics, routines to convert initial states, and vehicle parameters.
        
        ## Documentation
        
        For a detailed explanation of the vehicle models, please have a look at the [documentation](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/blob/master/vehicleModels_commonRoad.pdf).
        
        ## Installation
        
        To use vehicle models and parameters, run
        ```
        pip install commonroad-vehicle-models
        ```
        
        ## Code examples
        
        For an extended simulation example demonstrating the advantages of more complicated models, we refer to our [gitlab repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/tree/master/PYTHON/scripts). A simple simulation example for using the single-track model in combination with an odeint solver would be
        
        ```python3
        from scipy.integrate import odeint
        import numpy
        
        from vehiclemodels.init_ks import init_ks
        from vehiclemodels.parameters_vehicle1 import parameters_vehicle1
        from vehiclemodels.vehicle_dynamics_ks import vehicle_dynamics_ks
        
        def func_KS(x, t, u, p):
            f = vehicle_dynamics_ks(x, u, p)
            return f
        
        tStart = 0  # start time
        tFinal = 1  # start time
        
        # load vehicle parameters
        p = parameters_vehicle1()
        
        # initial state for simulation
        delta0 = 0
        vel0 = 15
        Psi0 = 0
        sy0 = 0
        initialState = [0, sy0, delta0, vel0, Psi0]
        x0_KS = init_ks(initialState)
        
        t = numpy.arange(0, tFinal, 0.01)
        u = [0, 5]
        x = odeint(func_KS, x0_KS, t, args=(u, p))
        
        ```
        
        
        
        ## Contribute
        
        If you want to contribute new vehicle models, you can create a merge request in our [repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/), or contact via our [forum](https://commonroad.in.tum.de/forum/).
        
        
        ## Changelog
        Compared to version 2019b the following features were added:
        * kinematic single-track model with on-axle trailer
        * vehicle parameter set for a semi-trailer truck (vehicle ID: 4)
        * single-track drift model: nonlinear single-track model with Pacejka tire forces
        
        
        ## Referencing
        
        If you use CommonRoad, please cite
        
        *[M. Althoff, M. Koschi, and S. Manzinger, ''CommonRoad: Composable Benchmarks for Motion Planning on Roads,'' in Proc. of the IEEE Intelligent Vehicles Symposium, 2017, pp. 719-726](http://mediatum.ub.tum.de/doc/1379638/776321.pdf)*.
        
Keywords: autonomous automated vehicles driving motion planning
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 3.6
Classifier: License :: OSI Approved :: GNU General Public License v3 (GPLv3)
Classifier: Operating System :: POSIX :: Linux
Classifier: Operating System :: MacOS
Description-Content-Type: text/markdown
