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add: fichier de parametre a tommy #1

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add: fichier de parametre a tommy #1

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51 changes: 26 additions & 25 deletions params/f110.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand All @@ -45,19 +46,19 @@ 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}

### velocity profile calculation options
# 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}

# ----------------------------------------------------------------------------------------------------------------------
Expand Down Expand Up @@ -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,
Expand Down Expand Up @@ -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

Expand All @@ -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
Expand All @@ -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,
Expand Down