Does limsim will or can support different kind of Kinematics model such as tractor-trailer vehicle?

[TeleYuhao]

Does limsim will or can support different kind of Kinematics model such as tractor-trailer vehicle? If it could be achieved through customization, how can I modify the code?

[zijinoier]

Hi there, that's an interesting question!

Currently, the planner used in LimSim is based on the Optimal Trajectory Generation in a Frenet Frame method. For implementation details, you can refer to trafficManager/planner/frenet_optimal_planner/frenet_optimal_planner.py.

It's important to note that this method mainly considers Ackermann Kinematic model cars. The check_path function in the above file restricts the output trajectories in terms of maximum acceleration, maximum speed, and turning radius.

If you need a planner suitable for tractor-trailer vehicles or require more precise planning, we suggest implementing your own planner class based on the AbstractEgoPlanner class found in trafficManager/planner/abstract_planner.py.

We looking forward your implementation and will be glad to have your contribution in LimSim!

[TeleYuhao]

Thanks for your reply. This is a interesting part for simulation software. If it is possible , I will do some efforts to achieve this and More communication with you.

[zijinoier]

Great! And if you're interested, please join our user community on WeChat: