The focus here is on the description of internal wheel states. More...

Collaboration diagram for osi3::HostVehicleData::VehicleWheels::WheelData:

Public Attributes
optional uint32	axle = 1
	The axle which contains this wheel. More...

optional uint32	index = 2
	The index of the wheel on the axle, counted in positive y- direction, that is, right-to-left. More...

optional double	rotation_rate = 3
	Rotation rate of the wheel based on the processed output of the hall sensor measurements at the wheel. More...

optional double	slip = 4
	Contains the longitudinal, measured slip of the tire. More...

Detailed Description

The focus here is on the description of internal wheel states.

Member Data Documentation

◆ axle

optional uint32 osi3::HostVehicleData::VehicleWheels::WheelData::axle = 1

The axle which contains this wheel.

A value of 0 represents the foremost axle of the vehicle, with higher numbers ascending towards the rearmost axle.

◆ index

optional uint32 osi3::HostVehicleData::VehicleWheels::WheelData::index = 2

The index of the wheel on the axle, counted in positive y- direction, that is, right-to-left.

For example, on a standard 2-axle, 4-wheel car, the rear-right wheel would be (axle=1, index=0). This concept also works for twin tires.

◆ rotation_rate

optional double osi3::HostVehicleData::VehicleWheels::WheelData::rotation_rate = 3

Rotation rate of the wheel based on the processed output of the hall sensor measurements at the wheel.

The rotation rate around the y-axis with respect to the wheel's coordinate system.

Unit: rad/s.

The sign convention is defined using the right-hand rule. It is applied on the y-axis of the vehicle's reference system, that is, the center of bounding box. Counterclockwise is positive and clockwise is negative.

Note: The vehicle's reference coordinate system is only used to determine the sign convention of the rotation rate.

◆ slip

optional double osi3::HostVehicleData::VehicleWheels::WheelData::slip = 4

Contains the longitudinal, measured slip of the tire.

References:: [1] kfz-tech.de, Schlupf, Retrieved June 30, 2021, from https://www.kfz-tech.de/Biblio/Formelsammlung/Schlupf.htm

Unit: %