From 38a1908dc7713928d75466c64c2038369b5d9d83 Mon Sep 17 00:00:00 2001 From: Tommy Bouchard-Lebrun Date: Mon, 2 Oct 2023 01:07:36 -0400 Subject: [PATCH] add: fichier de parametre a tommy --- params/f110.ini | 51 +++++++++++++++++++++++++------------------------ 1 file changed, 26 insertions(+), 25 deletions(-) diff --git a/params/f110.ini b/params/f110.ini index 76981f7..de824d4 100644 --- a/params/f110.ini +++ b/params/f110.ini @@ -14,15 +14,16 @@ ax_max_machines_file="ax_max_machines.csv" # TODO: Modify these if solver too slow # 0.25, 0.75, 0.5 # 0.5, 1.5, 1.0 -stepsize_opts={"stepsize_prep": 0.25, - "stepsize_reg": 0.5, +stepsize_opts={"stepsize_prep": 0.3, + "stepsize_reg": 0.6, "stepsize_interp_after_opt": 0.25} + ### spline regression smooth options # k_reg: [-] order of B-Splines -> standard: 3 # s_reg: [-] smoothing factor, range [1.0, 100.0] reg_smooth_opts={"k_reg": 3, - "s_reg": 25} + "s_reg": 10} ### preview and review distances for numerical curvature calculation (used in minimum time optimization) # d_preview_curv: [m] preview distance (curvature) @@ -45,11 +46,11 @@ curv_calc_opts = {"d_preview_curv": 0.2, # g: [N/kg] gravity acceleration # See https://github.com/jainachin/bayesrace/blob/master/bayes_race/params/f110.py -veh_params = {"v_max": 15.0, - "length": 0.568, - "width": 0.3, - "mass": 3.74, - "dragcoeff": 0.075, +veh_params = {"v_max": 27.78, + "length": 0.548, + "width": 0.284, + "mass": 4.0, + "dragcoeff": 0.075, "curvlim": 1.5, "g": 9.81} @@ -57,7 +58,7 @@ veh_params = {"v_max": 15.0, # dyn_model_exp: [-] exponent used in the vehicle dynamics model (range [1.0, 2.0]) # vel_profile_conv_filt_window: [-] moving average filter window size for velocity profile (set null if not used) -vel_calc_opts = {"dyn_model_exp": 1.0, +vel_calc_opts = {"dyn_model_exp": 2.0, "vel_profile_conv_filt_window": null} # ---------------------------------------------------------------------------------------------------------------------- @@ -99,10 +100,10 @@ optim_opts_mincurv={"width_opt": 0.4, # eps_kappa: [rad/m] curvature threshold to skip discretization points on straights (if # step_non_reg > 0) -optim_opts_mintime={"width_opt": 0.3, +optim_opts_mintime={"width_opt": 0.7, "penalty_delta": 10.0, "penalty_F": 0.01, - "mue": 0.52, + "mue": 0.58, "n_gauss": 5, "dn": 0.25, "limit_energy": false, @@ -132,8 +133,8 @@ optim_opts_mintime={"width_opt": 0.3, # t_delta: [s] time constant for steering dynamic # t_drive: [s] time constant for acceleration dynamic # t_brake: [s] time constant for braking dynamic -# power_max: [W] maximal engine power #TODO: -# f_drive_max: [N] maximal drive force #TODO: +# power_max: [W] maximal engine power +# f_drive_max: [N] maximal drive force # f_brake_max: [N] maximal brake force (only needed for actor dynamics) TODO: # delta_max: [rad] maximal steer angle @@ -142,19 +143,19 @@ vehicle_params_mintime = {"wheelbase_front": 0.275, "track_width_front": 0.296, "track_width_rear": 0.296, "cog_z": 0.074, - "I_z": 0.04712, + "I_z": 0.01558, "liftcoeff_front": 0.045, - "liftcoeff_rear": 0.075, - "k_brake_front": 0.6, - "k_drive_front": 0.5, + "liftcoeff_rear": 0.07, + "k_brake_front": 0.4, + "k_drive_front": 0.4, "k_roll": 0.5, - "t_delta": 0.2, - "t_drive": 0.1, - "t_brake": 0.1, - "power_max": 23000.0, - "f_drive_max": 700.0, - "f_brake_max": 2000.0, - "delta_max": 0.4189} + "t_delta": 0.16, + "t_drive": 0.06, + "t_brake": 0.06, + "power_max": 29000.0, + "f_drive_max": 900.0, + "f_brake_max": 2500.0, + "delta_max": 0.4293} ### tire parameters (minimum lap time optimization) # c_roll: [-] rolling resistance coefficient @@ -168,7 +169,7 @@ vehicle_params_mintime = {"wheelbase_front": 0.275, # eps_rear: [-] load dependence of Coefficient D for rear tire # E_rear: [-] Coefficient E for rear tire # Hint: The D parameter of the Magic Formula is determined by D = F_z * mue. mue can be set above in optim_opts_mintime! - +# TODO au complet tire_params_mintime = {"c_roll": 0.013, "f_z0": 300.0, "B_front": 10.0,