# truck

dynamic equations for the truck benchmark model

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also
- References

## Syntax

f = truck(x, u, w)

## Description

Dynamic equation for the truck benchmark (see Eq. (9) in [1]). The benchmark represents an autonomous truck with one on-axle trailer. The system states are the steering angle, the vehicle orientation, the orientation of the trailer, the velocity, and the x and y position of the center of mass. Control inputs to the system are the steering wheel angle velocity and the vehicle acceleration.

## Input Arguments

x | system states x (dimension: [nx,1])
u | control inputs u (dimension: [nu,1])
w | disturbances w (dimension: [nw,1])

## Output Arguments

f | value of the dynamic function = time derivative of x

## See Also

`car`, `robotArm`

## References

- [1] Althoff et al. (2020), CommonRoad: Vehicle Models

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