car_constants.yaml

# Copyright (c) 2024. Tudor Oancea, Matteo Berthet
# All parameters are in SI units.

inertia:
  mass: 230.0
  yaw_inertia: 137.583

geometry:
  car_length: 3.19
  car_width: 1.55
  axle_track: 1.24 # distance between the two wheels of a single axle
  wheelbase: 1.5706 # distance between the two axles
  cog_to_rear_axle: 0.7853
  cog_height: 0.295

drivetrain:
  C_m0: 4.950
  C_r0: 350.0
  C_r1: 20.0
  C_r2: 3.0

aero:
  C_downforce: 3.96864

pacejka:
  base:
    b1s: -6.75e-6
    b2s: 1.35e-1
    b3s: 1.2e-3
    c1s: 1.86
    d1s: 1.12e-4
    d2s: 1.57
    e1s: -5.38e-6
    e2s: 1.11e-2
    e3s: -4.26
    b1a: 3.79e1
    b2a: 5.28e2
    c1a: 1.57
    d1a: -2.03e-4
    d2a: 1.77
    e1a: -2.24e-3
    e2a: 1.81
  constant:
    BCDs: 37.607654432152245
    Bs: 12.380272608362585
    Cs: 1.86
    Ds: 1.6331764
    Es: 0.2894208417375008
    BCDa: 37.817376553445975
    Ba: 14.550048996411983
    Ca: 1.57
    Da: 1.655492775
    Ea: 0.5464720000000001

wheels:
  wheel_radius: 0.20809
  wheel_inertia: 0.3
  dynamic_friction: 0.17
  static_friction: 15.0

actuators:
  torque_max: 276.75
  steering_max: 0.5
  steering_rate_max: 1.0
  motor_time_constant: 1e-3
  steering_time_constant: 0.02