| <?xml version="1.0"?> |
| <OpenSCENARIO> |
| <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS vehicle models" author="in-tech GmbH"/> |
| <Catalog name="VehicleCatalog"> |
| <Vehicle name="car_bmw_i3" vehicleCategory="car"> |
| <Properties> |
| <Property name="AirDragCoefficient" value="0.3"/> |
| <Property name="AxleRatio" value="1.0"/> |
| <Property name="DecelerationFromPowertrainDrag" value="0.5"/> |
| <Property name="FrictionCoefficient" value="1.0"/> |
| <Property name="FrontSurface" value="2.38"/> |
| <Property name="GearRatio1" value="9.665"/> |
| <Property name="Mass" value="1320.0"/> |
| <Property name="MaximumEngineSpeed" value="6000.0"/> |
| <Property name="MaximumEngineTorque" value="250.0"/> |
| <Property name="MinimumEngineSpeed" value="900.0"/> |
| <Property name="MinimumEngineTorque" value="-54.0"/> |
| <Property name="MomentInertiaPitch" value="0.0"/> |
| <Property name="MomentInertiaRoll" value="0.0"/> |
| <Property name="MomentInertiaYaw" value="0.0"/> |
| <Property name="NumberOfGears" value="1"/> |
| <Property name="SteeringRatio" value="10.7"/> |
| </Properties> |
| <BoundingBox> |
| <Center x="1.25" y="0.0" z="0.84"/> |
| <Dimensions width="2.04" length="3.96" height="1.68"/> |
| </BoundingBox> |
| <Performance maxSpeed="41.67" maxAcceleration="9.80665" maxDeceleration="9.80665"/> |
| <Axles> |
| <FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/> |
| <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/> |
| </Axles> |
| </Vehicle> |
| <Vehicle name="car_bmw_3" vehicleCategory="car"> |
| <Properties> |
| <Property name="AirDragCoefficient" value="0.3"/> |
| <Property name="AxleRatio" value="2.813"/> |
| <Property name="DecelerationFromPowertrainDrag" value="0.5"/> |
| <Property name="FrictionCoefficient" value="1.0"/> |
| <Property name="FrontSurface" value="2.2"/> |
| <Property name="GearRatio1" value="5.0"/> |
| <Property name="GearRatio2" value="3.2"/> |
| <Property name="GearRatio3" value="2.143"/> |
| <Property name="GearRatio4" value="1.72"/> |
| <Property name="GearRatio5" value="1.314"/> |
| <Property name="GearRatio6" value="1.0"/> |
| <Property name="GearRatio7" value="0.822"/> |
| <Property name="GearRatio8" value="0.64"/> |
| <Property name="Mass" value="1525.0"/> |
| <Property name="MaximumEngineSpeed" value="6000.0"/> |
| <Property name="MaximumEngineTorque" value="270.0"/> |
| <Property name="MinimumEngineSpeed" value="900.0"/> |
| <Property name="MinimumEngineTorque" value="-54.0"/> |
| <Property name="MomentInertiaPitch" value="0.0"/> |
| <Property name="MomentInertiaRoll" value="0.0"/> |
| <Property name="MomentInertiaYaw" value="0.0"/> |
| <Property name="NumberOfGears" value="8"/> |
| <Property name="SteeringRatio" value="10.7"/> |
| </Properties> |
| <BoundingBox> |
| <Center x="1.285" y="0.0" z="0.72"/> |
| <Dimensions width="1.96" length="4.63" height="1.44"/> |
| </BoundingBox> |
| <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/> |
| <Axles> |
| <FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.8" positionX="2.81" positionZ="0.317"/> |
| <RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.8" positionX="0.0" positionZ="0.317"/> |
| </Axles> |
| </Vehicle> |
| <Vehicle name="car_bmw_7_1" vehicleCategory="car"> |
| <Properties> |
| <Property name="AirDragCoefficient" value="0.3"/> |
| <Property name="AxleRatio" value="3.077"/> |
| <Property name="DecelerationFromPowertrainDrag" value="0.5"/> |
| <Property name="FrictionCoefficient" value="1.0"/> |
| <Property name="FrontSurface" value="2.42"/> |
| <Property name="GearRatio1" value="5.0"/> |
| <Property name="GearRatio2" value="3.2"/> |
| <Property name="GearRatio3" value="2.143"/> |
| <Property name="GearRatio4" value="1.72"/> |
| <Property name="GearRatio5" value="1.314"/> |
| <Property name="GearRatio6" value="1.0"/> |
| <Property name="GearRatio7" value="0.822"/> |
| <Property name="GearRatio8" value="0.64"/> |
| <Property name="Mass" value="1845.0"/> |
| <Property name="MaximumEngineSpeed" value="6000.0"/> |
| <Property name="MaximumEngineTorque" value="450.0"/> |
| <Property name="MinimumEngineSpeed" value="900.0"/> |
| <Property name="MinimumEngineTorque" value="-54.0"/> |
| <Property name="MomentInertiaPitch" value="0.0"/> |
| <Property name="MomentInertiaRoll" value="0.0"/> |
| <Property name="MomentInertiaYaw" value="0.0"/> |
| <Property name="NumberOfGears" value="8"/> |
| <Property name="SteeringRatio" value="10.7"/> |
| </Properties> |
| <BoundingBox> |
| <Center x="1.46" y="0.0" z="0.755"/> |
| <Dimensions width="2.18" length="5.26" height="1.51"/> |
| </BoundingBox> |
| <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/> |
| <Axles> |
| <FrontAxle maxSteering="0.5226" wheelDiameter="0.682" trackWidth="1.8" positionX="3.22" positionZ="0.341"/> |
| <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/> |
| </Axles> |
| </Vehicle> |
| <Vehicle name="car_bmw_7_2" vehicleCategory="car"> |
| <Properties> |
| <Property name="AirDragCoefficient" value="0.3"/> |
| <Property name="AxleRatio" value="3.077"/> |
| <Property name="DecelerationFromPowertrainDrag" value="0.5"/> |
| <Property name="FrictionCoefficient" value="1.0"/> |
| <Property name="FrontSurface" value="2.42"/> |
| <Property name="GearRatio1" value="4.714"/> |
| <Property name="GearRatio2" value="3.143"/> |
| <Property name="GearRatio3" value="2.106"/> |
| <Property name="GearRatio4" value="1.667"/> |
| <Property name="GearRatio5" value="1.285"/> |
| <Property name="GearRatio6" value="1.0"/> |
| <Property name="GearRatio7" value="0.839"/> |
| <Property name="GearRatio8" value="0.667"/> |
| <Property name="Mass" value="1900.0"/> |
| <Property name="MaximumEngineSpeed" value="6000.0"/> |
| <Property name="MaximumEngineTorque" value="450.0"/> |
| <Property name="MinimumEngineSpeed" value="900.0"/> |
| <Property name="MinimumEngineTorque" value="-54.0"/> |
| <Property name="MomentInertiaPitch" value="0.0"/> |
| <Property name="MomentInertiaRoll" value="0.0"/> |
| <Property name="MomentInertiaYaw" value="0.0"/> |
| <Property name="NumberOfGears" value="8"/> |
| <Property name="SteeringRatio" value="10.7"/> |
| </Properties> |
| <BoundingBox> |
| <Center x="1.485" y="0.0" z="0.745"/> |
| <Dimensions width="2.16" length="5.27" height="1.49"/> |
| </BoundingBox> |
| <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/> |
| <Axles> |
| <FrontAxle maxSteering="0.5279" wheelDiameter="0.682" trackWidth="1.8" positionX="3.25" positionZ="0.341"/> |
| <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/> |
| </Axles> |
| </Vehicle> |
| <Vehicle name="car_mini_cooper" vehicleCategory="car"> |
| <Properties> |
| <Property name="AirDragCoefficient" value="0.3"/> |
| <Property name="AxleRatio" value="3.789"/> |
| <Property name="DecelerationFromPowertrainDrag" value="0.5"/> |
| <Property name="FrictionCoefficient" value="1.0"/> |
| <Property name="FrontSurface" value="2.07"/> |
| <Property name="GearRatio1" value="4.154"/> |
| <Property name="GearRatio2" value="2.45"/> |
| <Property name="GearRatio3" value="1.557"/> |
| <Property name="GearRatio4" value="1.09"/> |
| <Property name="GearRatio5" value="0.843"/> |
| <Property name="GearRatio6" value="0.675"/> |
| <Property name="GearRatio7" value="0.547"/> |
| <Property name="Mass" value="1235.0"/> |
| <Property name="MaximumEngineSpeed" value="6000.0"/> |
| <Property name="MaximumEngineTorque" value="220.0"/> |
| <Property name="MinimumEngineSpeed" value="900.0"/> |
| <Property name="MinimumEngineTorque" value="-54.0"/> |
| <Property name="MomentInertiaPitch" value="0.0"/> |
| <Property name="MomentInertiaRoll" value="0.0"/> |
| <Property name="MomentInertiaYaw" value="0.0"/> |
| <Property name="NumberOfGears" value="7"/> |
| <Property name="SteeringRatio" value="10.7"/> |
| </Properties> |
| <BoundingBox> |
| <Center x="1.35" y="0.0" z="0.71"/> |
| <Dimensions width="1.89" length="3.8" height="1.42"/> |
| </BoundingBox> |
| <Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/> |
| <Axles> |
| <FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/> |
| <RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/> |
| </Axles> |
| </Vehicle> |
| <Vehicle name="bus" vehicleCategory="truck"> |
| <Properties> |
| <Property name="AirDragCoefficient" value="0.8"/> |
| <Property name="AxleRatio" value="4.0"/> |
| <Property name="DecelerationFromPowertrainDrag" value="1.0"/> |
| <Property name="FrictionCoefficient" value="1.0"/> |
| <Property name="FrontSurface" value="9.0"/> |
| <Property name="GearRatio1" value="6.316"/> |
| <Property name="GearRatio2" value="4.554"/> |
| <Property name="GearRatio3" value="3.269"/> |
| <Property name="GearRatio4" value="2.352"/> |
| <Property name="GearRatio5" value="1.692"/> |
| <Property name="GearRatio6" value="1.217"/> |
| <Property name="GearRatio7" value="0.876"/> |
| <Property name="GearRatio8" value="0.630"/> |
| <Property name="Mass" value="25000.0"/> |
| <Property name="MaximumEngineSpeed" value="2500.0"/> |
| <Property name="MaximumEngineTorque" value="1400.0"/> |
| <Property name="MinimumEngineSpeed" value="600.0"/> |
| <Property name="MinimumEngineTorque" value="-140.0"/> |
| <Property name="MomentInertiaPitch" value="0.0"/> |
| <Property name="MomentInertiaRoll" value="0.0"/> |
| <Property name="MomentInertiaYaw" value="0.0"/> |
| <Property name="NumberOfGears" value="8"/> |
| <Property name="SteeringRatio" value="15.0"/> |
| </Properties> |
| <BoundingBox> |
| <Center x="2.815" y="0.0" z="1.92"/> |
| <Dimensions width="2.91" length="13.23" height="3.84"/> |
| </BoundingBox> |
| <Performance maxSpeed="33.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/> |
| <Axles> |
| <FrontAxle maxSteering="0.6972" wheelDiameter="0.808" trackWidth="1.8" positionX="6.64" positionZ="0.404"/> |
| <RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/> |
| </Axles> |
| </Vehicle> |
| <Vehicle name="truck" vehicleCategory="truck"> |
| <Properties> |
| <Property name="AirDragCoefficient" value="0.8"/> |
| <Property name="AxleRatio" value="4.0"/> |
| <Property name="DecelerationFromPowertrainDrag" value="1.0"/> |
| <Property name="FrictionCoefficient" value="1.0"/> |
| <Property name="FrontSurface" value="9.0"/> |
| <Property name="GearRatio1" value="6.316"/> |
| <Property name="GearRatio2" value="4.554"/> |
| <Property name="GearRatio3" value="3.269"/> |
| <Property name="GearRatio4" value="2.352"/> |
| <Property name="GearRatio5" value="1.692"/> |
| <Property name="GearRatio6" value="1.217"/> |
| <Property name="GearRatio7" value="0.876"/> |
| <Property name="GearRatio8" value="0.630"/> |
| <Property name="Mass" value="30000.0"/> |
| <Property name="MaximumEngineSpeed" value="2500.0"/> |
| <Property name="MaximumEngineTorque" value="1400.0"/> |
| <Property name="MinimumEngineSpeed" value="600.0"/> |
| <Property name="MinimumEngineTorque" value="-140.0"/> |
| <Property name="MomentInertiaPitch" value="0.0"/> |
| <Property name="MomentInertiaRoll" value="0.0"/> |
| <Property name="MomentInertiaYaw" value="0.0"/> |
| <Property name="NumberOfGears" value="8"/> |
| <Property name="SteeringRatio" value="15.0"/> |
| </Properties> |
| <BoundingBox> |
| <Center x="2.685" y="0.0" z="1.74"/> |
| <Dimensions width="3.16" length="8.83" height="3.48"/> |
| </BoundingBox> |
| <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/> |
| <Axles> |
| <FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/> |
| <RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/> |
| </Axles> |
| </Vehicle> |
| <Vehicle name="bicycle" vehicleCategory="bicycle"> |
| <Properties> |
| <Property name="AirDragCoefficient" value="0.3"/> |
| <Property name="AxleRatio" value="3.0"/> |
| <Property name="DecelerationFromPowertrainDrag" value="0.5"/> |
| <Property name="FrictionCoefficient" value="1.0"/> |
| <Property name="FrontSurface" value="1.9"/> |
| <Property name="GearRatio1" value="4.350"/> |
| <Property name="GearRatio2" value="2.496"/> |
| <Property name="GearRatio3" value="1.665"/> |
| <Property name="GearRatio4" value="1.230"/> |
| <Property name="GearRatio5" value="1.0"/> |
| <Property name="GearRatio6" value="0.851"/> |
| <Property name="Mass" value="90.0"/> |
| <Property name="MaximumEngineSpeed" value="6000.0"/> |
| <Property name="MaximumEngineTorque" value="540.0"/> |
| <Property name="MinimumEngineSpeed" value="900.0"/> |
| <Property name="MinimumEngineTorque" value="-54.0"/> |
| <Property name="MomentInertiaPitch" value="0.0"/> |
| <Property name="MomentInertiaRoll" value="0.0"/> |
| <Property name="MomentInertiaYaw" value="0.0"/> |
| <Property name="NumberOfGears" value="6"/> |
| <Property name="SteeringRatio" value="10.7"/> |
| </Properties> |
| <BoundingBox> |
| <Center x="0.175" y="0.0" z="0.9325"/> |
| <Dimensions width="0.5" length="1.89" height="1.865"/> |
| </BoundingBox> |
| <Performance maxSpeed="10.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/> |
| <Axles> |
| <FrontAxle maxSteering="1.5708" wheelDiameter="0.636" trackWidth="0.1" positionX="1.04" positionZ="0.318"/> |
| <RearAxle maxSteering="0.0" wheelDiameter="0.636" trackWidth="0.1" positionX="0.0" positionZ="0.318"/> |
| </Axles> |
| </Vehicle> |
| </Catalog> |
| </OpenSCENARIO> |