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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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Vehicle Dynamic Model #3387

Closed KasraMokhtari2112 closed 3 years ago

KasraMokhtari2112 commented 4 years ago

Hi everyone. Can somebody help me to have an idea about the dynamic models of the car? I know that they use Unreal's default vehicle dynamics, which is NVIDIA's PhysX vehicle model, but I cannot find anything helpful for that. For example, what is the maximum possible change in the car's angular velocity or forward velocity?

What I want to do is predicting the vehicle future position by knowing the throttle value, the current speed, and steering wheel value. How can I get the output of the dynamic model without running the simulation? Thanks!

xiaoyang666 commented 4 years ago

I have the same problem.

DSantosO commented 4 years ago

Hello, As you said, Carla vehicles use the Unreal plugin that is basically a wrapper for the PhysX Vehicle. You can find here the documentation of PhysX: In Carla, you can control some of these parameters via the Physics Control. Some parameters you might be interested in are the steering_curve, and torque_curve that give information about how the car can turn but, honestly, it is not very intuitive for what you want to do. I guess you could make a 'phenomelogical' model using the quantities you mentioned for predicting the next velocity/position but it is not going to be a straigfoward formula, because the model of PhysX takes in account a lot of things like the engine throttle, the reaction ot the suspension and tires, and some drag/dumping terms. Sorry I cannot be more helpful with that.

stale[bot] commented 3 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

aquibrash87 commented 2 years ago

@KasraMokhtari2112 did you make any progress on the topic. I am also interested in it.

Thanks!

castrong commented 2 years ago

@KasraMokhtari2112 and @aquibrash87 I am also interested in this, did you have any progress?

AOOOOOA commented 2 months ago

I guess you could make a 'phenomelogical' model using the quantities you mentioned for predicting the next velocity/position but it is not going to be a straigfoward formula, because the model of PhysX takes in account a lot of things like the engine throttle, the reaction ot the suspension and tires, and some drag/dumping terms. Sorry I cannot be more helpful with that.

Hi, same here. Do you guys have any progress? Thanks!