Defines vehicle rig configuration.
This module manages the rig configuration of the car including vehicle properties, mounted sensors, and their calibration information. It takes output from the calibration tool provided with DriveWorks in the form of a JSON file. The format of the file is as follows:
{
"rig": {
"sensors": [
{
"correction_rig_T": [
0.0,
0.0,
0.327499985694885
],
"correction_sensor_R_FLU": {
"roll-pitch-yaw": [
0.842417180538177,
2.28563094139099,
0.612829685211182
]
},
"name": "frontCamera120",
"nominalSensor2Rig_FLU": {
"roll-pitch-yaw": [
0.130517229437828,
0.376014828681946,
0.221322506666183
],
"t": [
1.064857006073,
-0.135129302740097,
1.48107004165649
]
},
"parameter": "video=video_0_roof_front_120.h264,timestamp=video_time_0.txt",
"properties": {
"Model": "ftheta",
"bw-poly": "0.0 0.00102186773438007 6.5174766916698e-08 -8.68132649101128e-11 9.99595439516061e-14",
"cx": "960",
"cy": "604",
"height": "1208",
"width": "1920",
"car-mask": "<json-path>/video_0_roof_front_120_mask_4.pgm"
},
"protocol": "camera.virtual"
}
],
"vehicle": {
"valid": true,
"value": {
"aeroHeight": 1.5,
"aerodynamicDragCoeff": 0.7,
"axlebaseFront": 1.582,
"axlebaseRear": 1.575,
"brakeActuatorTimeConstant": 0.5,
"bumperFront": 0.912,
"bumperRear": 1.109,
"centerOfMassHeight": 0.55,
"centerOfMassToFrontAxle": 1.286,
"centerOfMassToRearAxle": 1.564,
"driveByWireTimeConstant": 0.26,
"driveByWireTimeDelay": 0.11,
"frontCorneringStiffness": 30654.0,
"frontalArea": 1.0,
"frontSteeringOffset": 0.001,
"height": 1.473,
"inertia3D": [750, 3200, 3500],
"effectiveMass": 450.1882,
"length": 4.872,
"mass": 1779.4,
"maxEnginePower": 134000.0,
"maxSteeringWheelAngle": 8.290,
"name": "ford fusion 2017",
"rearCorneringStiffness": 36407.0,
"rollingResistanceCoeff": 0.015,
"steeringCoefficient": 14.8,
"steeringWheelToSteeringMap": [0.0, 0.06764844, -2.211817e-05, 0.0001220462, 6.986581e-07, 1.010693e-06],
"throttleActuatorTimeConstant": 1.0,
"torqueLUT": {
"throttlePedalInput": "0.15, 0.18, 0.22, 0.25, 0.29, 0.32, 0.36, 0.40, 0.43, 0.47, 0.50, 0.54, 0.57, 0.61, 0.65",
"throttleSpeedInput": "0.00, 2.28, 4.57, 6.85, 9.14, 11.42, 13.71, 16.00, 18.28, 20.57, 22.85, 25.14, 27.42, 29.71, 32.00",
"throttleTorqueOutput": [
"180.67, 77.36, -15.56, -98.11, -170.28, -232.06, -283.46, -324.48, -355.12, -375.37, -385.25, -384.74, -373.84, -352.57, -320.91",
"330.68, 220.00, 119.70, 29.78, -49.75, -118.90, -177.67, -226.06, -264.07, -291.70, -308.94, -315.80, -312.28, -298.37, -274.08",
"482.67, 364.62, 256.95, 159.66, 72.75, -3.76, -69.90, -125.66, -171.04, -206.03, -230.65, -244.88, -248.72, -242.19, -225.27",
"636.64, 511.22, 396.18, 291.52, 197.24, 113.35, 39.84, -23.28, -76.03, -118.39, -150.37, -171.97, -183.19, -184.02, -174.48",
"792.60, 659.80, 537.39, 425.36, 323.72, 232.45, 151.57, 81.07, 20.96, -28.77, -68.12, -97.09, -115.67, -123.88, -121.70",
"950.53, 810.37, 680.59, 561.19, 452.18, 353.54, 265.29, 187.42, 119.94, 62.83, 16.11, -20.22, -46.17, -61.75, -66.94",
"1110.45, 962.92, 825.77, 699.00, 582.62, 476.61, 380.99, 295.75, 220.90, 156.42, 102.33, 58.62, 25.30, 2.35, -10.20",
"1272.35, 1117.45, 972.93, 838.79, 715.04, 601.67, 498.67, 406.07, 323.84, 252.00, 190.54, 139.46, 98.76, 68.45, 48.52",
"1436.24, 1273.96, 1122.08, 980.57, 849.44, 728.70, 618.34, 518.36, 428.77, 349.55, 280.72, 222.27, 174.21, 136.52, 109.22",
"1602.10, 1432.46, 1273.20, 1124.33, 985.83, 857.72, 739.99, 632.64, 535.68, 449.09, 372.89, 307.07, 251.64, 206.58, 171.91",
"1769.95, 1592.94, 1426.31, 1270.07, 1124.20, 988.72, 863.62, 748.90, 644.57, 550.61, 467.04, 393.86, 331.05, 278.63, 236.58",
"1939.78, 1755.40, 1581.40, 1417.79, 1264.55, 1121.70, 989.23, 867.14, 755.44, 654.12, 563.18, 482.62, 412.44, 352.65, 303.24",
"2111.60, 1919.85, 1738.48, 1567.49, 1406.89, 1256.67, 1116.83, 987.37, 868.30, 759.60, 661.29, 573.37, 495.82, 428.66, 371.88",
"2285.40, 2086.27, 1897.54, 1719.18, 1551.21, 1393.61, 1246.41, 1109.58, 983.13, 867.07, 761.39, 666.10, 581.18, 506.65, 442.50",
"2461.18, 2254.69, 2058.58, 1872.85, 1697.51, 1532.55, 1377.97, 1233.77, 1099.96, 976.52, 863.47, 760.81, 668.52, 586.62, 515.10"
],
"brakePedalInput": "0.15, 0.16, 0.17, 0.19, 0.20, 0.22, 0.23, 0.25, 0.26, 0.27, 0.29, 0.30, 0.32, 0.33, 0.35",
"brakeTorqueOutput": "0, 50.32, 100.64, 170.37, 370.03, 569.69, 961.02, 1360.33, 1798.51, 2250.69, 2719.58, 3396.23, 4487.31, 6859.03, 7625.33"
},
"wheelRadius": [0.3365, 0.3365, 0.3365, 0.3365],
"wheelbase": 2.85,
"width": 1.852,
"widthWithMirrors": 2.121
}
}
},
"version": 6
}