Detailed Description

template<typename T>
class delphyne::BicycleCar< T >

BicycleCar implements a nonlinear rigid body bicycle model from Althoff & Dolan (2014) [1].

The three-DOF model captures the rigid-body dynamics in the lateral, longitudinal, and yaw directions but not in the roll and pitch directions. The model assumes a vehicle that has two wheels: one at the front and one at the rear. It has been demonstrated (e.g. [2]) that the representation reasonably approximates the dynamics of a four-wheeled vehicle; hence the model is useful as a simplified abstraction of car dynamics.

The states of the model are:

yaw angle Ψ [rad]
yaw rate Ψ_dot [rad/s]
slip angle at the center of mass β [rad]
velocity magnitude (vector magnitude at the slip angle) vel [m/s]
x-position of the center of mass sx [m]
y-position of the center of mass sy [m]

N.B. "slip angle" (β) is the angle made between the body and the velocity vector. Thus, the velocity vector can be resolved into the body-relative components vx_body = cos(β) and vy_body = sin(β). β = 0 means the velocity vector is pointing along the bicycle's longitudinal axis.

Inputs:

Angle of the front wheel of the bicycle δ [rad] (InputPort getter: get_steering_input_port())
Force acting on the rigid body F_in [N] (InputPort getter: get_force_input_port())

Output:

A BicycleCarState containing the 6-dimensional state vector of the bicycle. (OutputPort getter: get_state_output_port())

Instantiated templates for the following kinds of T's are provided:

double
drake::AutoDiffXd
drake::symbolic::Expression

They are already available to link against in libdrakeAutomotive.

[1] M. Althoff and J.M. Dolan, Online verification of automated road vehicles using reachability analysis, IEEE Transactions on Robotics, 30(4), 2014, pp. 903-908. DOI: 10.1109/TRO.2014.2312453.

[2] M. Althoff and J. M. Dolan, Reachability computation of low-order models for the safety verification of high-order road vehicle models, in Proc. of the American Control Conference, 2012, pp. 3559–3566.

#include <src/systems/bicycle_car.h>

Inheritance diagram for BicycleCar< T >:

[legend]

Public Member Functions
	BicycleCar ()
	Default constructor. More...

template<typename U >
	BicycleCar (const BicycleCar< U > &)
	Scalar-converting copy constructor. More...

	~BicycleCar () override

const drake::systems::InputPort< T > &	get_steering_input_port () const
	Returns the input port that contains the steering angle. More...

const drake::systems::InputPort< T > &	get_force_input_port () const
	Returns the input port that contains the applied powertrain force. More...

const drake::systems::OutputPort< T > &	get_state_output_port () const
	Returns the output port that contains the bicycle states. More...

Constructor & Destructor Documentation

◆ BicycleCar() [1/2]

BicycleCar

Default constructor.

◆ BicycleCar() [2/2]

BicycleCar ( const BicycleCar< U > & )

explicit

Scalar-converting copy constructor.

◆ ~BicycleCar()

~BicycleCar

override

Member Function Documentation

◆ get_force_input_port()

const drake::systems::InputPort< T > & get_force_input_port

Returns the input port that contains the applied powertrain force.

◆ get_state_output_port()

const drake::systems::OutputPort< T > & get_state_output_port

Returns the output port that contains the bicycle states.

◆ get_steering_input_port()

const drake::systems::InputPort< T > & get_steering_input_port

Returns the input port that contains the steering angle.

The documentation for this class was generated from the following files: