Vehicle chassis parameters

chassis_params structure

type	property	description	default
float	mass	vehicle mass [kg]	1000
float3	com (JS) com_offset (C++)	center of mass offset	{x:0.0,y:0.0,z:0.0} {0.f ,0.f ,0.f}
float	clearance	clearance from ground, default wheel radius	0
float	bumper_clearance	clearance in front and back (train bumpers)	0
struct	steering_params(JS) steering_cfg (C++)	type property description default float steering_ecf (JS) steering_thr (C++) speed [km/h] at which the steering speed is reduced by 60% 50 float centering_ecf (JS) centering_thr(C++) speed [km/h] when the centering acts at 60% already 20

Note: effective steering angle is reduced with vehicle speed by exp(-kmh/steering_threshold).

Wheel auto-centering speed depends on the vehicle speed by 1 - exp(-kmh/centering_threshold), e.g with higher speed the wheel centers faster.