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Update vehicle model reference to 2023 edition of Guiggiani's book (#35805)

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Update car_kf.py
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Simon Kuang
2025-07-25 12:57:13 -07:00
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parent 5e07636d54
commit b4ae64358e
1 changed files with 3 additions and 2 deletions
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selfdrive/locationd/models/car_kf.py
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@@ -93,8 +93,9 @@ class CarKalman(KalmanFilter):
dim_state = CarKalman.initial_x.shape[0]
name = CarKalman.name
# vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
# Model used is in 6.15 with formula from 6.198
# Linearized single-track lateral dynamics, equations 7.211-7.213
# Massimo Guiggiani, The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
# Springer Cham, 2023. doi: https://doi.org/10.1007/978-3-031-06461-6
# globals
global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]