truck
dynamic equations for the truck benchmark model
Contents
Syntax
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
References
- [1] Althoff et al. (2020), CommonRoad: Vehicle Models
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