From 3879b9dfc80a5d60fe3cffca2f60873e1f587773 Mon Sep 17 00:00:00 2001 From: Marius Larsen <21012548+MariusLarsen@users.noreply.github.com> Date: Wed, 3 Mar 2021 11:40:22 +0100 Subject: [PATCH] Fxing some typos in vehicle_model.py comments (#20220) old-commit-hash: e998d6d93f786733468756d51df2d11494389d7c --- selfdrive/controls/lib/vehicle_model.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py index 238550dca4..a0b1dddfd7 100755 --- a/selfdrive/controls/lib/vehicle_model.py +++ b/selfdrive/controls/lib/vehicle_model.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 """ -Dynamic bycicle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani" +Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani" The state is x = [v, r]^T with v lateral speed [m/s], and r rotational speed [rad/s] @@ -46,7 +46,7 @@ class VehicleModel: def steady_state_sol(self, sa: float, u: float) -> np.ndarray: """Returns the steady state solution. - If the speed is too small we can't use the dynamic model (tire slip is undefined), + If the speed is too low we can't use the dynamic model (tire slip is undefined), we then have to use the kinematic model Args: @@ -155,8 +155,8 @@ def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, n A tuple with the 2x2 A matrix, and 2x1 B matrix Parameters in the vehicle model: - cF: Tire stiffnes Front [N/rad] - cR: Tire stiffnes Front [N/rad] + cF: Tire stiffness Front [N/rad] + cR: Tire stiffness Front [N/rad] aF: Distance from CG to front wheels [m] aR: Distance from CG to rear wheels [m] m: Mass [kg] @@ -177,7 +177,7 @@ def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, n def dyn_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray: """Calculate the steady state solution when x_dot = 0, - Ax + Bu = 0 => x = A^{-1} B u + Ax + Bu = 0 => x = -A^{-1} B u Args: sa: Steering angle [rad]