From b4ae64358e1cf7261c4bdc6b515f2898947314e9 Mon Sep 17 00:00:00 2001 From: Simon Kuang Date: Fri, 25 Jul 2025 12:57:13 -0700 Subject: [PATCH] Update vehicle model reference to 2023 edition of Guiggiani's book (#35805) Update car_kf.py --- selfdrive/locationd/models/car_kf.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 349897f371..6db749b949 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -93,8 +93,9 @@ class CarKalman(KalmanFilter): dim_state = CarKalman.initial_x.shape[0] name = CarKalman.name - # vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars - # Model used is in 6.15 with formula from 6.198 + # Linearized single-track lateral dynamics, equations 7.211-7.213 + # Massimo Guiggiani, The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars + # Springer Cham, 2023. doi: https://doi.org/10.1007/978-3-031-06461-6 # globals global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]