Commit 33ed3597 authored by MatthiasAlthoff's avatar MatthiasAlthoff
Browse files

updated to version 2019a

parent b7933eb3

MATLAB/vehicleDynamics_ST.m

+87 −86
Original line number Diff line number Diff line
@@ -23,6 +23,7 @@ function f = vehicleDynamics_ST(x,u,p) 
% Author:       Matthias Althoff

% Written:      12-January-2017

% Last update:  15-December-2017

%		03-September-2019

% Last revision:---



%------------- BEGIN CODE --------------
@@ -52,7 +53,7 @@ if abs(x(4)) < 0.1 
    

    %system dynamics

    f(1:5,1) = vehicleDynamics_KS(x(1:5),u,p);

    f(6,1) = u(2)*lwb*tan(x(3)) + x(4)/(lwb*cos(x(3))^2)*u(1);

    f(6,1) = u(2)/lwb*tan(x(3)) + x(4)/(lwb*cos(x(3))^2)*u(1);

    f(7,1) = 0;

else

Python/vehicleDynamics_ST.py

+3 −2
Original line number Diff line number Diff line
@@ -29,6 +29,7 @@ def vehicleDynamics_ST(x,uInit,p): 
    # Author:       Matthias Althoff

    # Written:      12-January-2017

    # Last update:  16-December-2017

    #               03-September-2019

    # Last revision:---



    #------------- BEGIN CODE --------------
@@ -73,7 +74,7 @@ def vehicleDynamics_ST(x,uInit,p): 
        x_ks = [x[0],  x[1],  x[2],  x[3],  x[4]]

        f_ks = vehicleDynamics_KS(x_ks,u,p)

        f = [f_ks[0],  f_ks[1],  f_ks[2],  f_ks[3],  f_ks[4], 

        u[1]*lwb*math.tan(x[2]) + x[3]/(lwb*math.cos(x[2])**2)*u[0], 

        u[1]/lwb*math.tan(x[2]) + x[3]/(lwb*math.cos(x[2])**2)*u[0], 

        0]



    else:

vehicleModels_commonRoad.pdf

+3.34 KiB (368 KiB)

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