% Name:        TECFunc_VehicleParameters
% Created:     rayalejandro.lattarulo@tecnalia.com 27/04/2017 V1.0
% Description: Vehicle parameters.

function [m, Iz_m, L, b_L, a_L, cf, cr, h, g, mu, ts, trs, accMax, decMax, steerGain] = TECFunc_VehicleParameters()
  ts   = 0.001; % Sample time [ms]
  trs  = 0.070; % Resample time [ms]
  
  m    = +  546.50 ; % Mass [Kg]
  Iz_m = +  0.6086 ; % Normalized inertia [Kg*m^2]
  
  L    =    1.6860 ; % Wheelbase
  b_L  =    0.7148 ; % Percentage from COG to rear axis  [0 - 1]
  a_L  =    1 - b_L; % Percentage from COG to front axis [0 - 1]
  
  cf   = - 12.4911; % Cornering stiffness front wheel
  cr   = - 14.4598; % Cornering stiffness rear wheel
  h    =    0.4100; % Height of COG [m]
  
  g    =    9.8100; % Gravity
  mu   =    0.8000; % Friction coefficient
  
  accMax =   1.150; % ACC max.
  decMax = - 3.140; % DEC max.
  
  steerGain = 20;
  
  
  Iz_m = +  0.5150 ; % Normalized inertia [Kg*m^2]
  b_L  =    0.4502 ; % Percentage from COG to rear axis  [0 - 1]
  cf   = -  7.0840; % Cornering stiffness front wheel
  cr   = - 21.1630; % Cornering stiffness rear wheel
end

