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Car-Parameters.md

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F1TENTH Car Parameters

AutoDRIVE-F1TENTH-ARMLab

Kinodynamic Parameters

Parameter Value
Car Weight 3.47 kg
Wheel Weight 0.109 kg
Car Length 0.50 m
Car Width 0.27 m
Wheelbase 0.33 m
Track Width 0.236 m
Front Offset 0.09 m
Rear Offset 0.08 m
Wheel Radius 0.058
Wheel Width 0.045 m
Min Turning Radius (@ Max Steering Angle) 0.5611 m
Max Steering Angle (Wheel-Road Angle) 0.523599 rad (30 deg)
Max Speed ⚠️ Physical Car Limit ⚠️ 19.67 m/s (44 mph)

Reference:

src/autodrive/config/planner_params.yaml

VESC Parametrs

Parameter Value
Max Steering Rate 3.2 rad/s
Max Acceleration 2.5 m/s2
Min Braking Command -20000
Max Braking Command 200000
Min Speed Command -23250
Max Speed Command 23250
Min Braking Command -20000
Max Braking Command 200000
Min Steering Command 0.15
Max Steering Command 0.85

Notes:

  • Drive motor erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset

    • speed_to_erpm_gain: 7300
    • speed_to_erpm_offset: 250

  • Steer servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset

    • steering_angle_to_servo_gain: -0.6
    • steering_angle_to_servo_offset: 0.435 (zero steer offset)

Reference:

src/f1tenth/racecar/racecar/config/racecar-v2/vesc.yaml