osi3::HostVehicleData::VehicleWheels::WheelData Struct Reference

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.

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 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.

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: %

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.