AutoDRIVE-Ecosystem / Nigel-System-Identification

System Identification of Nigel

Nigel System Identification

System Identification of Nigel

Experiments

CG Identification	Yaw MOI Identification
Tire Stiffness Identification	Friction Coefficient Identification

Measured and Identified Parameters

Parameter	Symbol	Value	Unit
Length	L	0.31847	m
Width	W	0.17500	m
Height	H	0.25680	m
Wheelbase	l	0.14155	m
Track Width	l_t	0.14724	m
Wheel Radius	r_i	0.0325	m
Mass	m	2.68	kg
CG Position*	—	x: 0.0637 y: 0.0736 z: 0.0993	m
CG Front Offset	l_f	0.06226	m
CG Rear Offset	l_r	0.07929	m
Yaw Moment of Inertia	I_z	0.01944	kg.m^2
Tire Stiffness	C_i	22.4768	N.rad^-1
Friction Coefficient**	u_i	0.4	—

*CG position is measured from the front-left wheel contact point.

**Friction coefficient noted here is identified under nominal conditions.