suboptimumg.vehicle.vehicle_models

class suboptimumg.vehicle.vehicle_models.AlignmentModel

Bases: BaseModel

Fields

Field	Type	Required	Default
camber_front_deg	float	Yes
camber_rear_deg	float	Yes
toe_front_deg	float	Yes
toe_rear_deg	float	Yes

Parameters:

• camber_front_deg (float)

• camber_rear_deg (float)

• toe_front_deg (float)

• toe_rear_deg (float)

camber_front_deg: float

camber_rear_deg: float

toe_front_deg: float

toe_rear_deg: float

class suboptimumg.vehicle.vehicle_models.ExtendedVehicleModel

Bases: VehicleModel

VehicleModel extended with real-world session setup parameters.

Set type: irl_setup in the YAML to trigger this model. Includes alignment, steering ackermann, and suspension setup fields on top of the base car parameters.

Fields

Field	Type	Required	Default	Constraints
accum	AccumulatorModel	Yes
aero	AeroModel	Yes
alignment	AlignmentModel	Yes
cg_h	float	Yes		gt=0
chass	ChassisModel | None	No	None
dri	DriverInterfaceModel	Yes
front_track	float	Yes		gt=0
mass	float	Yes		gt=0
pwrtn	PowertrainModel	Yes
rear_track	float	Yes		gt=0
rolling_coeff	float	Yes		ge=0
steering_setup	SteeringSetupModel	Yes
sus	SimpleSuspensionModel | ComplexSuspensionModel	Yes
suspension_setup	SuspensionSetupModel	Yes
tires	TireModel	Yes
type	Literal[‘irl_setup’]	No	'irl_setup'
w_distr_b	float	Yes		gt=0, lt=1
wb	float	Yes		gt=0

Validators

Validator	Mode	Fields
validate_rolling_coeff	after	rolling_coeff

Parameters:

• type (Literal['irl_setup'])

• mass (Annotated[float, Gt(gt=0)])

• w_distr_b (Annotated[float, Gt(gt=0), Lt(lt=1)])

• cg_h (Annotated[float, Gt(gt=0)])

• wb (Annotated[float, Gt(gt=0)])

• front_track (Annotated[float, Gt(gt=0)])

• rear_track (Annotated[float, Gt(gt=0)])

• rolling_coeff (Annotated[float, Ge(ge=0)])

• aero (AeroModel)

• pwrtn (PowertrainModel)

• accum (AccumulatorModel)

• sus (SimpleSuspensionModel | ComplexSuspensionModel)

• tires (TireModel)

• dri (DriverInterfaceModel)

• chass (ChassisModel | None)

• alignment (AlignmentModel)

• steering_setup (SteeringSetupModel)

• suspension_setup (SuspensionSetupModel)

alignment: AlignmentModel

steering_setup: SteeringSetupModel

suspension_setup: SuspensionSetupModel

type: Literal['irl_setup']

class suboptimumg.vehicle.vehicle_models.FittedCurve(data, poly_order)

Bases: object

Polynomial fit of tabulated [x, y] data with Horner evaluation.

Parameters:

• data (list of [x, y] pairs) – Raw tabulated input data.

• poly_order (int) – Polynomial degree for the least-squares fit.

x_raw, y_raw

Original input arrays.

Type:

np.ndarray

poly_order

Type:

int

coeffs

Polynomial coefficients in descending degree order [c_n, c_{n-1}, ..., c_1, c_0], matching np.polyfit output and the order Horner’s method consumes directly.

Type:

np.ndarray

evaluate(x)

Evaluate the fitted polynomial via Horner’s method.

Parameters:

x (float | npt.NDArray[np.float64]) – Input value(s) at which to evaluate.

Returns:

Evaluated polynomial value(s).

Return type:

np.float64 | npt.NDArray[np.float64]

class suboptimumg.vehicle.vehicle_models.SteeringSetupModel

Bases: BaseModel

Fields

Field	Type	Required	Default
ackermann	FittedCurve	Yes

Validators

Validator	Mode	Fields
coerce_ackermann	before	ackermann

Parameters:

ackermann (FittedCurve)

ackermann: FittedCurve

classmethod coerce_ackermann(v)

class suboptimumg.vehicle.vehicle_models.SuspensionSetupModel

Bases: BaseModel

Fields

Field	Type	Required	Default	Constraints
anti_dive_pct	float	Yes		ge=0, le=1
anti_squat_pct	float	Yes		ge=0, le=1
heave_stiffness_front_N_per_m	float	Yes		gt=0
heave_stiffness_rear_N_per_m	float	Yes		gt=0
motion_ratio_front	float	Yes		gt=0
motion_ratio_rear	float	Yes		gt=0
roll_stiffness_front_Nm_per_rad	float	Yes		gt=0
roll_stiffness_rear_Nm_per_rad	float	Yes		gt=0

Parameters:

• roll_stiffness_front_Nm_per_rad (Annotated[float, Gt(gt=0)])

• roll_stiffness_rear_Nm_per_rad (Annotated[float, Gt(gt=0)])

• heave_stiffness_front_N_per_m (Annotated[float, Gt(gt=0)])

• heave_stiffness_rear_N_per_m (Annotated[float, Gt(gt=0)])

• anti_dive_pct (Annotated[float, Ge(ge=0), Le(le=1.0)])

• anti_squat_pct (Annotated[float, Ge(ge=0), Le(le=1.0)])

• motion_ratio_front (Annotated[float, Gt(gt=0)])

• motion_ratio_rear (Annotated[float, Gt(gt=0)])

anti_dive_pct: float

anti_squat_pct: float

heave_stiffness_front_N_per_m: float

heave_stiffness_rear_N_per_m: float

motion_ratio_front: float

motion_ratio_rear: float

roll_stiffness_front_Nm_per_rad: float

roll_stiffness_rear_Nm_per_rad: float

class suboptimumg.vehicle.vehicle_models.VehicleModel

Bases: BaseModel

Fields

Field	Type	Required	Default	Constraints
accum	AccumulatorModel	Yes
aero	AeroModel	Yes
cg_h	float	Yes		gt=0
chass	ChassisModel | None	No	None
dri	DriverInterfaceModel	Yes
front_track	float	Yes		gt=0
mass	float	Yes		gt=0
pwrtn	PowertrainModel	Yes
rear_track	float	Yes		gt=0
rolling_coeff	float	Yes		ge=0
sus	SimpleSuspensionModel | ComplexSuspensionModel	Yes
tires	TireModel	Yes
type	Literal[‘base’]	No	'base'
w_distr_b	float	Yes		gt=0, lt=1
wb	float	Yes		gt=0

Validators

Validator	Mode	Fields
validate_rolling_coeff	after	rolling_coeff

Parameters:

• type (Literal['base'])

• mass (Annotated[float, Gt(gt=0)])

• w_distr_b (Annotated[float, Gt(gt=0), Lt(lt=1)])

• cg_h (Annotated[float, Gt(gt=0)])

• wb (Annotated[float, Gt(gt=0)])

• front_track (Annotated[float, Gt(gt=0)])

• rear_track (Annotated[float, Gt(gt=0)])

• rolling_coeff (Annotated[float, Ge(ge=0)])

• aero (AeroModel)

• pwrtn (PowertrainModel)

• accum (AccumulatorModel)

• sus (SimpleSuspensionModel | ComplexSuspensionModel)

• tires (TireModel)

• dri (DriverInterfaceModel)

• chass (ChassisModel | None)

accum: AccumulatorModel

aero: AeroModel

cg_h: float

chass: ChassisModel | None

dri: DriverInterfaceModel

front_track: float

mass: float

pwrtn: PowertrainModel

rear_track: float

rolling_coeff: float

sus: SimpleSuspensionModel | ComplexSuspensionModel

tires: TireModel

property track: float

type: Literal['base']

classmethod validate_rolling_coeff(v)

w_distr_b: float

property w_distr_front: float

wb: float