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Car-Parameters.md

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F1TENTH Car Parameters

AutoDRIVE-F1TENTH-ARMLab

Kinematic Parameters

Parameter Value
Car Length 0.50 m
Car Width 0.27 m
Wheelbase 0.33 m
Track Width 0.23 m
Front Offset 0.09 m
Rear Offset 0.08 m
Min Turning Radius (@ Max Steering Angle) 0.5716 m
Max Steering Angle (Wheel-Road Angle) 0.523599 rad (30 deg)
Max Speed ⚠️ Physical Car Limit ⚠️ 8.9408 m/s (20 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:

  • Speed Command: erpm (electrical rpm) = speed_to_erpm_gain * speed (m/s) + speed_to_erpm_offset

    • speed_to_erpm_gain: 4614
    • speed_to_erpm_offset: 0.0

  • Steering Command: servo_value (normalized 0 to 1) = steering_angle_to_servo_gain * steering angle (rad) + steering_angle_to_servo_offset

    • steering_angle_to_servo_gain: -1.2135
    • steering_angle_to_servo_offset: 0.435 (zero steer offset)

Reference:

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