# Python Vehicle Models of CommonRoad
This package contains all vehicle models of the [CommonRoad benchmarks](https://commonroad.in.tum.de/).
We provide implementations of the vehicle dynamics, routines to convert initial states, and vehicle parameters.
## Documentation
For a detailed explanation of the vehicle models, please have a look at the [documentation](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/blob/master/vehicleModels_commonRoad.pdf).
## Installation
To use vehicle models and parameters, run
```
pip install commonroad-vehicle-models
```
## Code examples
For an extended simulation example demonstrating the advantages of more complicated models, we refer to our [gitlab repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/tree/master/PYTHON/scripts). A simple simulation example for using the single-track model in combination with an odeint solver would be
```python3
from scipy.integrate import odeint
import numpy
from vehiclemodels.init_ks import init_ks
from vehiclemodels.parameters_vehicle1 import parameters_vehicle1
from vehiclemodels.vehicle_dynamics_ks import vehicle_dynamics_ks
def func_KS(x, t, u, p):
f = vehicle_dynamics_ks(x, u, p)
return f
tStart = 0 # start time
tFinal = 1 # start time
# load vehicle parameters
p = parameters_vehicle1()
# initial state for simulation
delta0 = 0
vel0 = 15
Psi0 = 0
sy0 = 0
initialState = [0, sy0, delta0, vel0, Psi0]
x0_KS = init_ks(initialState)
t = numpy.arange(0, tFinal, 0.01)
u = [0, 5]
x = odeint(func_KS, x0_KS, t, args=(u, p))
```
## Contribute
If you want to contribute new vehicle models, you can create a merge request in our [repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/), or contact via our [forum](https://commonroad.in.tum.de/forum/).
## Changelog
Compared to version 2.0.0 the following features were added/changed:
* linearized kinematic single-track model added as an additional vehicle model
* vehicle parameters are stored in YAML-files
* parameter configuration of vehicles are generated from YAML-files using [OmegaConf](https://omegaconf.readthedocs.io/en/2.2_branch/) (backwards compatible)
## Referencing
If you use CommonRoad for your research, please cite [our paper](http://mediatum.ub.tum.de/doc/1379638/776321.pdf):
```
@inproceedings{Althoff2017a,
author = {Althoff, Matthias and Koschi, Markus and Manzinger, Stefanie},
title = {CommonRoad: Composable benchmarks for motion planning on roads},
booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
year = {2017},
}
```
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