{"group":{"id":1,"name":"Community","lockable":false,"created_at":"2012-01-18T18:02:15.000Z","updated_at":"2026-04-26T00:14:02.000Z","description":"Problems submitted by members of the MATLAB Central community.","is_default":true,"created_by":161519,"badge_id":null,"featured":false,"trending":false,"solution_count_in_trending_period":0,"trending_last_calculated":"2026-04-26T00:00:00.000Z","image_id":null,"published":true,"community_created":false,"status_id":2,"is_default_group_for_player":false,"deleted_by":null,"deleted_at":null,"restored_by":null,"restored_at":null,"description_opc":null,"description_html":null,"published_at":null},"problems":[{"id":61310,"title":"Electric Power Steering (EPS) Assist Curve Calculation","description":"Electric Power Steering (EPS) provides assist torque proportional to driver input.\r\nGiven Steering torque Ts and Gain k, Compute assist torque Ta.\r\nEquation:\r\nTa = k × Ts","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eElectric Power Steering (EPS) provides assist torque proportional to driver input.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Steering torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTs \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGain \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003ek, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute assist torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTa\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eTa = k × Ts\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function Ta = epsAssist(Ts,k)\r\nTa =0;\r\nend","test_suite":"%%\r\nTs = 4; \r\nk = 3;\r\nTa_expected = 12;\r\nassert(isequal(epsAssist(Ts,k),Ta_expected))\r\n\r\n%%\r\nTs = 5; \r\nk = 2;\r\nTa_expected = 10;\r\nassert(isequal(epsAssist(Ts,k),Ta_expected))\r\n\r\n%%\r\nTs = 6; \r\nk = 1.5;\r\nTa_expected = 9;\r\nassert(isequal(epsAssist(Ts,k),Ta_expected))","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:39:50.000Z","deleted_by":null,"deleted_at":null,"solvers_count":5,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:39:20.000Z","updated_at":"2026-04-29T17:30:10.000Z","published_at":"2026-04-28T09:39:50.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eElectric Power Steering (EPS) provides assist torque proportional to driver input.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Steering torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTs \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eGain \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003ek, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute assist torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTa\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eTa = k × Ts\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61311,"title":"EPS Assist Map with respect to the Vehicle Speed ","description":"In Electric Power Steering (EPS), assist torque reduces as vehicle speed increases to improve stability at high speeds.\r\nGiven Steering torque input Ts, Base assist gain k0, Vehicle speed v and Speed sensitivity factor kv, compute assist torque Ta using a linear speed-dependent gain.\r\nEquation:\r\nTa = Ts × (k0 / (1 + kv × v))","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 131.883px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 65.9297px; transform-origin: 467.496px 65.9414px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eIn Electric Power Steering (EPS), assist torque reduces as vehicle speed increases to improve stability at high speeds.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 41.9531px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 20.9766px; text-align: left; transform-origin: 443.508px 20.9766px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Steering torque input \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTs, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; 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unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eSpeed sensitivity factor \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003ekv, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003ecompute assist torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTa\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e using a linear speed-dependent gain.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eTa = Ts × (k0 / (1 + kv × v))\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function Ta = epsAssistSpeed(Ts,k0,kv,v)\r\nTa = 0;\r\nend","test_suite":"%%\r\nTs = 5; k0 = 3; \r\nkv = 0.02; \r\nv = 0;\r\nTa_expected = Ts * (k0 / (1 + kv*v));\r\nassert(abs(epsAssistSpeed(Ts,k0,kv,v) - Ta_expected) \u003c 1e-6)\r\n\r\n%%\r\nTs = 5; \r\nk0 = 3; \r\nkv = 0.02; \r\nv = 50;\r\nTa_expected = Ts * (k0 / (1 + kv*v));\r\nassert(abs(epsAssistSpeed(Ts,k0,kv,v) - Ta_expected) \u003c 1e-6)\r\n\r\n%%\r\nTs = 8; \r\nk0 = 2.5; \r\nkv = 0.01; \r\nv = 30;\r\nTa_expected = Ts * (k0 / (1 + kv*v));\r\nassert(abs(epsAssistSpeed(Ts,k0,kv,v) - Ta_expected) \u003c 1e-6)\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:44:14.000Z","deleted_by":null,"deleted_at":null,"solvers_count":7,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:43:39.000Z","updated_at":"2026-04-29T17:32:17.000Z","published_at":"2026-04-28T09:44:14.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eIn Electric Power Steering (EPS), assist torque reduces as vehicle speed increases to improve stability at high speeds.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Steering torque input \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTs, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eBase assist gain \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003ek0, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eVehicle speed \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003ev \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eSpeed sensitivity factor \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003ekv, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003ecompute assist torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTa\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e using a linear speed-dependent gain.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eTa = Ts × (k0 / (1 + kv × v))\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61307,"title":"Steering Ratio Calculation","description":"The steering ratio defines the relationship between steering wheel angle and road wheel angle.\r\nGiven wheel angle δ and Steering ratio N, Compute steering wheel angle swa.\r\nEquation:\r\nswa = N × delta","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eThe steering ratio defines the relationship between steering wheel angle and road wheel angle.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven wheel angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eδ \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand Steering ratio \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eN, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute steering wheel angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eswa\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eswa = N × delta\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function sw = steeringWheelAngle(delta,N)\r\nsw = N;\r\nend","test_suite":"%%\r\ndelta = 5*pi/180; \r\nN = 16;\r\nsw_expected = 1.3963;\r\nassert(abs(steeringWheelAngle(delta,N) - sw_expected) \u003c 1e-4)\r\n\r\n%%\r\ndelta = 3*pi/180; \r\nN = 18;\r\nsw_expected = 0.9425;\r\nassert(abs(steeringWheelAngle(delta,N) - sw_expected) \u003c 1e-4)\r\n\r\n%%\r\ndelta = 10*pi/180; \r\nN = 14;\r\nsw_expected = 2.4435;\r\nassert(abs(steeringWheelAngle(delta,N) - sw_expected) \u003c 1e-4)\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:26:27.000Z","deleted_by":null,"deleted_at":null,"solvers_count":6,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:26:22.000Z","updated_at":"2026-04-29T17:24:14.000Z","published_at":"2026-04-28T09:26:27.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eThe steering ratio defines the relationship between steering wheel angle and road wheel angle.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven wheel angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eδ \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eand Steering ratio \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eN, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute steering wheel angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eswa\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eswa = N × delta\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61312,"title":"Electric Power Steering (EPS) Motor Torque with Efficiency","description":"In EPS systems, the motor must generate additional torque to compensate for system losses.\r\nGiven Required assist torque at rack Ta and Mechanical efficiency η (0 \u003c η ≤ 1)\r\nCompute required motor torque Tm.\r\n","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eIn EPS systems, the motor must generate additional torque to compensate for system losses.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Required assist torque at rack \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTa \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eMechanical efficiency \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eη (0 \u0026lt; η ≤ 1)\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute required motor torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTm\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function Tm = epsMotorTorque(Ta,eta)\r\nTm = 0;\r\nend","test_suite":"%%\r\nTa = 10; eta = 0.9;\r\nTm_expected = Ta / eta;\r\nassert(abs(epsMotorTorque(Ta,eta) - Tm_expected) \u003c 1e-6)\r\n\r\n%%\r\nTa = 15; eta = 0.85;\r\nTm_expected = Ta / eta;\r\nassert(abs(epsMotorTorque(Ta,eta) - Tm_expected) \u003c 1e-6)\r\n\r\n%%\r\nTa = 8; eta = 0.8;\r\nTm_expected = Ta / eta;\r\nassert(abs(epsMotorTorque(Ta,eta) - Tm_expected) \u003c 1e-6)","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:46:20.000Z","deleted_by":null,"deleted_at":null,"solvers_count":7,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:46:15.000Z","updated_at":"2026-04-30T05:19:59.000Z","published_at":"2026-04-28T09:46:20.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eIn EPS systems, the motor must generate additional torque to compensate for system losses.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Required assist torque at rack \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTa \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eMechanical efficiency \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eη (0 \u0026lt; η ≤ 1)\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eCompute required motor torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTm\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61309,"title":"Steering Torque Estimation","description":"Steering torque is generated due to lateral tire forces acting through the steering mechanism.\r\nGiven Lateral force Fy and Lever arm r, Compute torque T.\r\nEquation:\r\nT = Fy × r","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eSteering torque is generated due to lateral tire forces acting through the steering mechanism.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Lateral force \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eFy \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eLever arm \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003er, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eT\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eT = Fy × r\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function T = steeringTorque(Fy,r)\r\nT = 0;\r\nend","test_suite":"%%\r\nFy = 1500; \r\nr = 0.15;\r\nT_expected = 225;\r\nassert(isequal(steeringTorque(Fy,r),T_expected))\r\n\r\n%%\r\nFy = 1000; \r\nr = 0.2;\r\nT_expected = 200;\r\nassert(isequal(steeringTorque(Fy,r),T_expected))\r\n\r\n%%\r\nFy = 800; \r\nr = 0.25;\r\nT_expected = 200;\r\nassert(isequal(steeringTorque(Fy,r),T_expected))","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:36:50.000Z","deleted_by":null,"deleted_at":null,"solvers_count":6,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:36:45.000Z","updated_at":"2026-04-30T06:50:23.000Z","published_at":"2026-04-28T09:36:50.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eSteering torque is generated due to lateral tire forces acting through the steering mechanism.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Lateral force \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eFy \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eLever arm \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003er, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eT\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eT = Fy × r\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61308,"title":"Understeer or Oversteer Gradient Calculation","description":"This gradient determines whether a vehicle tends to understeer or oversteer.\r\nGiven Mass m, Wheelbase L, Front cornering stiffness Cf and Rear cornering stiffness Cr, Compute understeer/oversteer gradient K.\r\nEquation:\r\nK = (m / L) × ( (1 / Cf) − (1 / Cr) )","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eThis gradient determines whether a vehicle tends to understeer or oversteer.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Mass \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003em, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eWheelbase \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eL, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eFront cornering stiffness \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eCf \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eRear cornering stiffness \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eCr, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute understeer/oversteer gradient \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eK\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eK = (m / L) × ( (1 / Cf) − (1 / Cr) )\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function K = understeerGradient(m,L,Cf,Cr)\r\nK = Cr;\r\nend","test_suite":"%%\r\nm = 1500; \r\nL = 2.7; \r\nCf = 80000; \r\nCr = 90000;\r\nK_expected = 0.001543;\r\nassert(abs(understeerGradient(m,L,Cf,Cr) - K_expected) \u003c 1e-3)\r\n\r\n%%\r\nm = 1200; \r\nL = 2.5; \r\nCf = 70000; \r\nCr = 85000;\r\nK_expected = 0.001029;\r\nassert(abs(understeerGradient(m,L,Cf,Cr) - K_expected) \u003c 1e-3)\r\n\r\n%%\r\nm = 1800; \r\nL = 3.0; \r\nCf = 90000; \r\nCr = 95000;\r\nK_expected = 0.000351;\r\nassert(abs(understeerGradient(m,L,Cf,Cr) - K_expected) \u003c 1e-6)\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:34:03.000Z","deleted_by":null,"deleted_at":null,"solvers_count":7,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:31:51.000Z","updated_at":"2026-04-30T16:28:44.000Z","published_at":"2026-04-28T09:34:03.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eThis gradient determines whether a vehicle tends to understeer or oversteer.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Mass \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003em, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eWheelbase \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eL, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eFront cornering stiffness \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eCf \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eRear cornering stiffness \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eCr, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute understeer/oversteer gradient \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eK\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eK = (m / L) × ( (1 / Cf) − (1 / Cr) )\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61304,"title":"Turning radius of a vehicle","description":"The turning radius represents the radius of the circular path followed by a vehicle.\r\nGiven Wheelbase L and Steering angle δ, Compute the turning radius R.\r\nEquation:\r\nR = L / tan(delta)","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eThe turning radius represents the radius of the circular path followed by a vehicle.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Wheelbase \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eL and \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eSteering angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eδ, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute the turning radius \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eR\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eR = L / tan(delta)\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function R = turningRadius(L,delta)\r\nR = 0;\r\nend","test_suite":"%%\r\nL = 2.5; delta = 30*pi/180;\r\nR_expected = 4.3301;\r\nassert(abs(turningRadius(L,delta) - R_expected) \u003c 1e-3)\r\n\r\n%%\r\nL = 3.0; delta = 20*pi/180;\r\nR_expected = 8.2426;\r\nassert(abs(turningRadius(L,delta) - R_expected) \u003c 1e-3)\r\n\r\n%%\r\nL = 2.8; delta = 10*pi/180;\r\nR_expected = 15.866;\r\nassert(abs(turningRadius(L,delta) - R_expected) \u003c 1e-1)","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:16:45.000Z","deleted_by":null,"deleted_at":null,"solvers_count":10,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:13:54.000Z","updated_at":"2026-04-30T16:29:38.000Z","published_at":"2026-04-28T09:16:45.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eThe turning radius represents the radius of the circular path followed by a vehicle.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Wheelbase \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eL and \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eSteering angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eδ, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute the turning radius \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eR\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eR = L / tan(delta)\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61303,"title":"Steering 101-Ackermann Steering Ratio","description":"In a turning vehicle, inner and outer wheels follow different radii. Ackermann steering geometry ensures both wheels roll without slipping.\r\nGiven wheelbase L, track width W, and outer wheel angle δo, compute the inner wheel angle δi \r\nusing:\r\n\r\nYouTube concept reference","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 140.883px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 70.4297px; transform-origin: 467.496px 70.4414px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eIn a turning vehicle, inner and outer wheels follow different radii. Ackermann steering geometry ensures both wheels roll without slipping.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven wheelbase \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eL\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e, track width \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eW\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e, and outer wheel angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eδo\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e, compute the inner wheel angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eδi\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e \u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eusing:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"vertical-align:-5px\"\u003e\u003cimg 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width=\"192\" height=\"18\" style=\"width: 192px; height: 18px;\"\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003ca target='_blank' href = \"https://youtu.be/i6uBwudwA5o?si=AkGgaHat1SAAMDjJ\"\u003e\u003cspan style=\"border-block-end-color: rgb(0, 91, 130); border-block-start-color: rgb(0, 91, 130); border-bottom-color: rgb(0, 91, 130); border-inline-end-color: rgb(0, 91, 130); border-inline-start-color: rgb(0, 91, 130); border-left-color: rgb(0, 91, 130); border-right-color: rgb(0, 91, 130); border-top-color: rgb(0, 91, 130); caret-color: rgb(0, 91, 130); color: rgb(0, 91, 130); column-rule-color: rgb(0, 91, 130); outline-color: rgb(0, 91, 130); text-decoration-color: rgb(0, 91, 130); text-emphasis-color: rgb(0, 91, 130); \"\u003e\u003cspan style=\"\"\u003eYouTube concept reference\u003c/span\u003e\u003c/span\u003e\u003c/a\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function di = ackermannInnerAngle(L,W,do)\r\ndi = 0;\r\nend","test_suite":"%%\r\nL = 2.5; W = 1.5; do = 20*pi/180;\r\ndi_expected = atan(1 / (1/tan(do) - W/L));\r\nassert(abs(ackermannInnerAngle(L,W,do) - di_expected) \u003c 1e-6)\r\n\r\n%%\r\nL = 3.0; W = 1.6; do = 15*pi/180;\r\ndi_expected = atan(1 / (1/tan(do) - W/L));\r\nassert(abs(ackermannInnerAngle(L,W,do) - di_expected) \u003c 1e-6)\r\n\r\n%%\r\nL = 2.8; W = 1.4; do = 25*pi/180;\r\ndi_expected = atan(1 / (1/tan(do) - W/L));\r\nassert(abs(ackermannInnerAngle(L,W,do) - di_expected) \u003c 1e-6)\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:12:23.000Z","deleted_by":null,"deleted_at":null,"solvers_count":7,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:11:44.000Z","updated_at":"2026-04-29T23:14:52.000Z","published_at":"2026-04-28T09:12:23.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eIn a turning vehicle, inner and outer wheels follow different radii. Ackermann steering geometry ensures both wheels roll without slipping.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven wheelbase \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eL\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e, track width \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eW\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e, and outer wheel angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eδo\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e, compute the inner wheel angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eδi\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eusing:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:customXml w:element=\\\"equation\\\"\u003e\u003cw:customXmlPr\u003e\u003cw:attr w:name=\\\"displayStyle\\\" w:val=\\\"true\\\"/\u003e\u003c/w:customXmlPr\u003e\u003cw:r\u003e\u003cw:t\u003e\\\\delta i = atan( L / ( (L / tan(\\\\delta o)) - W ) )\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:customXml\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:hyperlink w:docLocation=\\\"https://youtu.be/i6uBwudwA5o?si=AkGgaHat1SAAMDjJ\\\"\u003e\u003cw:r\u003e\u003cw:t\u003eYouTube concept reference\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:hyperlink\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61306,"title":"Tire Slip Angle Calculation","description":"Slip angle represents the angle between the direction a tire is pointing and the direction it is moving.\r\nGiven Lateral velocity vy and Longitudinal velocity vx, compute slip angle α.\r\nEquation:\r\nalpha_angle = atan(vy / vx)","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eSlip angle represents the angle between the direction a tire is pointing and the direction it is moving.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Lateral velocity \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003evy \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eLongitudinal velocity \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003evx, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003ecompute slip angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eα\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003ealpha_angle = atan(vy / vx)\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function alpha = slipAngle(vy,vx)\r\nalpha = vy;\r\nend","test_suite":"%%\r\nvy = 2; vx = 10;\r\nalpha_expected = 0.1974;\r\nassert(abs(slipAngle(vy,vx) - alpha_expected) \u003c 1e-4)\r\n\r\n%%\r\nvy = 1; vx = 5;\r\nalpha_expected = 0.1974;\r\nassert(abs(slipAngle(vy,vx) - alpha_expected) \u003c 1e-4)\r\n\r\n%%\r\nvy = 3; vx = 15;\r\nalpha_expected = 0.1974;\r\nassert(abs(slipAngle(vy,vx) - alpha_expected) \u003c 1e-4)","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:23:16.000Z","deleted_by":null,"deleted_at":null,"solvers_count":6,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:23:12.000Z","updated_at":"2026-04-29T17:22:32.000Z","published_at":"2026-04-28T09:23:16.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eSlip angle represents the angle between the direction a tire is pointing and the direction it is moving.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Lateral velocity \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003evy \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eLongitudinal velocity \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003evx, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003ecompute slip angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eα\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003ealpha_angle = atan(vy / vx)\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"}],"problem_search":{"errors":[],"problems":[{"id":61310,"title":"Electric Power Steering (EPS) Assist Curve Calculation","description":"Electric Power Steering (EPS) provides assist torque proportional to driver input.\r\nGiven Steering torque Ts and Gain k, Compute assist torque Ta.\r\nEquation:\r\nTa = k × Ts","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eElectric Power Steering (EPS) provides assist torque proportional to driver input.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Steering torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTs \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGain \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003ek, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute assist torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTa\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eTa = k × Ts\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function Ta = epsAssist(Ts,k)\r\nTa =0;\r\nend","test_suite":"%%\r\nTs = 4; \r\nk = 3;\r\nTa_expected = 12;\r\nassert(isequal(epsAssist(Ts,k),Ta_expected))\r\n\r\n%%\r\nTs = 5; \r\nk = 2;\r\nTa_expected = 10;\r\nassert(isequal(epsAssist(Ts,k),Ta_expected))\r\n\r\n%%\r\nTs = 6; \r\nk = 1.5;\r\nTa_expected = 9;\r\nassert(isequal(epsAssist(Ts,k),Ta_expected))","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:39:50.000Z","deleted_by":null,"deleted_at":null,"solvers_count":5,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:39:20.000Z","updated_at":"2026-04-29T17:30:10.000Z","published_at":"2026-04-28T09:39:50.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eElectric Power Steering (EPS) provides assist torque proportional to driver input.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Steering torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTs \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eGain \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003ek, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute assist torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTa\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eTa = k × Ts\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61311,"title":"EPS Assist Map with respect to the Vehicle Speed ","description":"In Electric Power Steering (EPS), assist torque reduces as vehicle speed increases to improve stability at high speeds.\r\nGiven Steering torque input Ts, Base assist gain k0, Vehicle speed v and Speed sensitivity factor kv, compute assist torque Ta using a linear speed-dependent gain.\r\nEquation:\r\nTa = Ts × (k0 / (1 + kv × v))","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 131.883px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 65.9297px; transform-origin: 467.496px 65.9414px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eIn Electric Power Steering (EPS), assist torque reduces as vehicle speed increases to improve stability at high speeds.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 41.9531px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 20.9766px; text-align: left; transform-origin: 443.508px 20.9766px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Steering torque input \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTs, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eBase assist gain \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003ek0, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eVehicle speed \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003ev \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eSpeed sensitivity factor \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003ekv, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003ecompute assist torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTa\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e using a linear speed-dependent gain.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eTa = Ts × (k0 / (1 + kv × v))\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function Ta = epsAssistSpeed(Ts,k0,kv,v)\r\nTa = 0;\r\nend","test_suite":"%%\r\nTs = 5; k0 = 3; \r\nkv = 0.02; \r\nv = 0;\r\nTa_expected = Ts * (k0 / (1 + kv*v));\r\nassert(abs(epsAssistSpeed(Ts,k0,kv,v) - Ta_expected) \u003c 1e-6)\r\n\r\n%%\r\nTs = 5; \r\nk0 = 3; \r\nkv = 0.02; \r\nv = 50;\r\nTa_expected = Ts * (k0 / (1 + kv*v));\r\nassert(abs(epsAssistSpeed(Ts,k0,kv,v) - Ta_expected) \u003c 1e-6)\r\n\r\n%%\r\nTs = 8; \r\nk0 = 2.5; \r\nkv = 0.01; \r\nv = 30;\r\nTa_expected = Ts * (k0 / (1 + kv*v));\r\nassert(abs(epsAssistSpeed(Ts,k0,kv,v) - Ta_expected) \u003c 1e-6)\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:44:14.000Z","deleted_by":null,"deleted_at":null,"solvers_count":7,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:43:39.000Z","updated_at":"2026-04-29T17:32:17.000Z","published_at":"2026-04-28T09:44:14.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eIn Electric Power Steering (EPS), assist torque reduces as vehicle speed increases to improve stability at high speeds.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Steering torque input \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTs, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eBase assist gain \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003ek0, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eVehicle speed \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003ev \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eSpeed sensitivity factor \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003ekv, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003ecompute assist torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTa\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e using a linear speed-dependent gain.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eTa = Ts × (k0 / (1 + kv × v))\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61307,"title":"Steering Ratio Calculation","description":"The steering ratio defines the relationship between steering wheel angle and road wheel angle.\r\nGiven wheel angle δ and Steering ratio N, Compute steering wheel angle swa.\r\nEquation:\r\nswa = N × delta","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eThe steering ratio defines the relationship between steering wheel angle and road wheel angle.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven wheel angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eδ \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand Steering ratio \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eN, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute steering wheel angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eswa\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eswa = N × delta\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function sw = steeringWheelAngle(delta,N)\r\nsw = N;\r\nend","test_suite":"%%\r\ndelta = 5*pi/180; \r\nN = 16;\r\nsw_expected = 1.3963;\r\nassert(abs(steeringWheelAngle(delta,N) - sw_expected) \u003c 1e-4)\r\n\r\n%%\r\ndelta = 3*pi/180; \r\nN = 18;\r\nsw_expected = 0.9425;\r\nassert(abs(steeringWheelAngle(delta,N) - sw_expected) \u003c 1e-4)\r\n\r\n%%\r\ndelta = 10*pi/180; \r\nN = 14;\r\nsw_expected = 2.4435;\r\nassert(abs(steeringWheelAngle(delta,N) - sw_expected) \u003c 1e-4)\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:26:27.000Z","deleted_by":null,"deleted_at":null,"solvers_count":6,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:26:22.000Z","updated_at":"2026-04-29T17:24:14.000Z","published_at":"2026-04-28T09:26:27.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eThe steering ratio defines the relationship between steering wheel angle and road wheel angle.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven wheel angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eδ \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eand Steering ratio \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eN, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute steering wheel angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eswa\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eswa = N × delta\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61312,"title":"Electric Power Steering (EPS) Motor Torque with Efficiency","description":"In EPS systems, the motor must generate additional torque to compensate for system losses.\r\nGiven Required assist torque at rack Ta and Mechanical efficiency η (0 \u003c η ≤ 1)\r\nCompute required motor torque Tm.\r\n","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eIn EPS systems, the motor must generate additional torque to compensate for system losses.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Required assist torque at rack \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTa \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eMechanical efficiency \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eη (0 \u0026lt; η ≤ 1)\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute required motor torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eTm\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function Tm = epsMotorTorque(Ta,eta)\r\nTm = 0;\r\nend","test_suite":"%%\r\nTa = 10; eta = 0.9;\r\nTm_expected = Ta / eta;\r\nassert(abs(epsMotorTorque(Ta,eta) - Tm_expected) \u003c 1e-6)\r\n\r\n%%\r\nTa = 15; eta = 0.85;\r\nTm_expected = Ta / eta;\r\nassert(abs(epsMotorTorque(Ta,eta) - Tm_expected) \u003c 1e-6)\r\n\r\n%%\r\nTa = 8; eta = 0.8;\r\nTm_expected = Ta / eta;\r\nassert(abs(epsMotorTorque(Ta,eta) - Tm_expected) \u003c 1e-6)","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:46:20.000Z","deleted_by":null,"deleted_at":null,"solvers_count":7,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:46:15.000Z","updated_at":"2026-04-30T05:19:59.000Z","published_at":"2026-04-28T09:46:20.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eIn EPS systems, the motor must generate additional torque to compensate for system losses.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Required assist torque at rack \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTa \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eMechanical efficiency \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eη (0 \u0026lt; η ≤ 1)\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eCompute required motor torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eTm\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61309,"title":"Steering Torque Estimation","description":"Steering torque is generated due to lateral tire forces acting through the steering mechanism.\r\nGiven Lateral force Fy and Lever arm r, Compute torque T.\r\nEquation:\r\nT = Fy × r","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eSteering torque is generated due to lateral tire forces acting through the steering mechanism.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Lateral force \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eFy \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eLever arm \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003er, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute torque \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eT\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eT = Fy × r\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function T = steeringTorque(Fy,r)\r\nT = 0;\r\nend","test_suite":"%%\r\nFy = 1500; \r\nr = 0.15;\r\nT_expected = 225;\r\nassert(isequal(steeringTorque(Fy,r),T_expected))\r\n\r\n%%\r\nFy = 1000; \r\nr = 0.2;\r\nT_expected = 200;\r\nassert(isequal(steeringTorque(Fy,r),T_expected))\r\n\r\n%%\r\nFy = 800; \r\nr = 0.25;\r\nT_expected = 200;\r\nassert(isequal(steeringTorque(Fy,r),T_expected))","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:36:50.000Z","deleted_by":null,"deleted_at":null,"solvers_count":6,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:36:45.000Z","updated_at":"2026-04-30T06:50:23.000Z","published_at":"2026-04-28T09:36:50.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eSteering torque is generated due to lateral tire forces acting through the steering mechanism.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Lateral force \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eFy \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eLever arm \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003er, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute torque \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eT\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eT = Fy × r\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61308,"title":"Understeer or Oversteer Gradient Calculation","description":"This gradient determines whether a vehicle tends to understeer or oversteer.\r\nGiven Mass m, Wheelbase L, Front cornering stiffness Cf and Rear cornering stiffness Cr, Compute understeer/oversteer gradient K.\r\nEquation:\r\nK = (m / L) × ( (1 / Cf) − (1 / Cr) )","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eThis gradient determines whether a vehicle tends to understeer or oversteer.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Mass \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003em, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eWheelbase \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eL, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eFront cornering stiffness \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eCf \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eRear cornering stiffness \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eCr, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute understeer/oversteer gradient \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eK\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eK = (m / L) × ( (1 / Cf) − (1 / Cr) )\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function K = understeerGradient(m,L,Cf,Cr)\r\nK = Cr;\r\nend","test_suite":"%%\r\nm = 1500; \r\nL = 2.7; \r\nCf = 80000; \r\nCr = 90000;\r\nK_expected = 0.001543;\r\nassert(abs(understeerGradient(m,L,Cf,Cr) - K_expected) \u003c 1e-3)\r\n\r\n%%\r\nm = 1200; \r\nL = 2.5; \r\nCf = 70000; \r\nCr = 85000;\r\nK_expected = 0.001029;\r\nassert(abs(understeerGradient(m,L,Cf,Cr) - K_expected) \u003c 1e-3)\r\n\r\n%%\r\nm = 1800; \r\nL = 3.0; \r\nCf = 90000; \r\nCr = 95000;\r\nK_expected = 0.000351;\r\nassert(abs(understeerGradient(m,L,Cf,Cr) - K_expected) \u003c 1e-6)\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:34:03.000Z","deleted_by":null,"deleted_at":null,"solvers_count":7,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:31:51.000Z","updated_at":"2026-04-30T16:28:44.000Z","published_at":"2026-04-28T09:34:03.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eThis gradient determines whether a vehicle tends to understeer or oversteer.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Mass \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003em, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eWheelbase \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eL, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eFront cornering stiffness \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eCf \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eRear cornering stiffness \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eCr, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute understeer/oversteer gradient \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eK\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eK = (m / L) × ( (1 / Cf) − (1 / Cr) )\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61304,"title":"Turning radius of a vehicle","description":"The turning radius represents the radius of the circular path followed by a vehicle.\r\nGiven Wheelbase L and Steering angle δ, Compute the turning radius R.\r\nEquation:\r\nR = L / tan(delta)","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eThe turning radius represents the radius of the circular path followed by a vehicle.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Wheelbase \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eL and \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eSteering angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eδ, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eCompute the turning radius \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eR\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eR = L / tan(delta)\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function R = turningRadius(L,delta)\r\nR = 0;\r\nend","test_suite":"%%\r\nL = 2.5; delta = 30*pi/180;\r\nR_expected = 4.3301;\r\nassert(abs(turningRadius(L,delta) - R_expected) \u003c 1e-3)\r\n\r\n%%\r\nL = 3.0; delta = 20*pi/180;\r\nR_expected = 8.2426;\r\nassert(abs(turningRadius(L,delta) - R_expected) \u003c 1e-3)\r\n\r\n%%\r\nL = 2.8; delta = 10*pi/180;\r\nR_expected = 15.866;\r\nassert(abs(turningRadius(L,delta) - R_expected) \u003c 1e-1)","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:16:45.000Z","deleted_by":null,"deleted_at":null,"solvers_count":10,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:13:54.000Z","updated_at":"2026-04-30T16:29:38.000Z","published_at":"2026-04-28T09:16:45.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eThe turning radius represents the radius of the circular path followed by a vehicle.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Wheelbase \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eL and \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eSteering angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eδ, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eCompute the turning radius \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eR\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eR = L / tan(delta)\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61303,"title":"Steering 101-Ackermann Steering Ratio","description":"In a turning vehicle, inner and outer wheels follow different radii. Ackermann steering geometry ensures both wheels roll without slipping.\r\nGiven wheelbase L, track width W, and outer wheel angle δo, compute the inner wheel angle δi \r\nusing:\r\n\r\nYouTube concept reference","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 140.883px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 70.4297px; transform-origin: 467.496px 70.4414px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eIn a turning vehicle, inner and outer wheels follow different radii. Ackermann steering geometry ensures both wheels roll without slipping.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven wheelbase \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eL\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e, track width \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eW\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e, and outer wheel angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eδo\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e, compute the inner wheel angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eδi\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e \u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eusing:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"vertical-align:-5px\"\u003e\u003cimg 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width=\"192\" height=\"18\" style=\"width: 192px; height: 18px;\"\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003ca target='_blank' href = \"https://youtu.be/i6uBwudwA5o?si=AkGgaHat1SAAMDjJ\"\u003e\u003cspan style=\"border-block-end-color: rgb(0, 91, 130); border-block-start-color: rgb(0, 91, 130); border-bottom-color: rgb(0, 91, 130); border-inline-end-color: rgb(0, 91, 130); border-inline-start-color: rgb(0, 91, 130); border-left-color: rgb(0, 91, 130); border-right-color: rgb(0, 91, 130); border-top-color: rgb(0, 91, 130); caret-color: rgb(0, 91, 130); color: rgb(0, 91, 130); column-rule-color: rgb(0, 91, 130); outline-color: rgb(0, 91, 130); text-decoration-color: rgb(0, 91, 130); text-emphasis-color: rgb(0, 91, 130); \"\u003e\u003cspan style=\"\"\u003eYouTube concept reference\u003c/span\u003e\u003c/span\u003e\u003c/a\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function di = ackermannInnerAngle(L,W,do)\r\ndi = 0;\r\nend","test_suite":"%%\r\nL = 2.5; W = 1.5; do = 20*pi/180;\r\ndi_expected = atan(1 / (1/tan(do) - W/L));\r\nassert(abs(ackermannInnerAngle(L,W,do) - di_expected) \u003c 1e-6)\r\n\r\n%%\r\nL = 3.0; W = 1.6; do = 15*pi/180;\r\ndi_expected = atan(1 / (1/tan(do) - W/L));\r\nassert(abs(ackermannInnerAngle(L,W,do) - di_expected) \u003c 1e-6)\r\n\r\n%%\r\nL = 2.8; W = 1.4; do = 25*pi/180;\r\ndi_expected = atan(1 / (1/tan(do) - W/L));\r\nassert(abs(ackermannInnerAngle(L,W,do) - di_expected) \u003c 1e-6)\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:12:23.000Z","deleted_by":null,"deleted_at":null,"solvers_count":7,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:11:44.000Z","updated_at":"2026-04-29T23:14:52.000Z","published_at":"2026-04-28T09:12:23.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eIn a turning vehicle, inner and outer wheels follow different radii. Ackermann steering geometry ensures both wheels roll without slipping.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven wheelbase \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eL\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e, track width \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eW\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e, and outer wheel angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eδo\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e, compute the inner wheel angle 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w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:hyperlink w:docLocation=\\\"https://youtu.be/i6uBwudwA5o?si=AkGgaHat1SAAMDjJ\\\"\u003e\u003cw:r\u003e\u003cw:t\u003eYouTube concept reference\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:hyperlink\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"},{"id":61306,"title":"Tire Slip Angle Calculation","description":"Slip angle represents the angle between the direction a tire is pointing and the direction it is moving.\r\nGiven Lateral velocity vy and Longitudinal velocity vx, compute slip angle α.\r\nEquation:\r\nalpha_angle = atan(vy / vx)","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none; white-space: normal; \"\u003e\u003cdiv style=\"block-size: 110.906px; display: block; min-width: 0px; padding-block-start: 0px; padding-inline-start: 2px; padding-left: 2px; padding-top: 0px; perspective-origin: 467.484px 55.4531px; transform-origin: 467.496px 55.4531px; vertical-align: baseline; \"\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eSlip angle represents the angle between the direction a tire is pointing and the direction it is moving.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eGiven Lateral velocity \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003evy \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eand\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003e \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003eLongitudinal velocity \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003evx, \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003ecompute slip angle \u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eα\u003c/span\u003e\u003c/span\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003e.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"font-weight: 700; \"\u003eEquation:\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003cdiv style=\"block-size: 20.9766px; font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; padding-inline-start: 0px; padding-left: 0px; perspective-origin: 443.508px 10.4766px; text-align: left; transform-origin: 443.508px 10.4883px; white-space-collapse: preserve; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; unicode-bidi: normal; \"\u003e\u003cspan style=\"\"\u003ealpha_angle = atan(vy / vx)\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function alpha = slipAngle(vy,vx)\r\nalpha = vy;\r\nend","test_suite":"%%\r\nvy = 2; vx = 10;\r\nalpha_expected = 0.1974;\r\nassert(abs(slipAngle(vy,vx) - alpha_expected) \u003c 1e-4)\r\n\r\n%%\r\nvy = 1; vx = 5;\r\nalpha_expected = 0.1974;\r\nassert(abs(slipAngle(vy,vx) - alpha_expected) \u003c 1e-4)\r\n\r\n%%\r\nvy = 3; vx = 15;\r\nalpha_expected = 0.1974;\r\nassert(abs(slipAngle(vy,vx) - alpha_expected) \u003c 1e-4)","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":2305225,"edited_by":2305225,"edited_at":"2026-04-28T09:23:16.000Z","deleted_by":null,"deleted_at":null,"solvers_count":6,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2026-04-28T09:23:12.000Z","updated_at":"2026-04-29T17:22:32.000Z","published_at":"2026-04-28T09:23:16.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eSlip angle represents the angle between the direction a tire is pointing and the direction it is moving.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven Lateral velocity \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003evy \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003eand\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003e \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003eLongitudinal velocity \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003evx, \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr/\u003e\u003cw:t\u003ecompute slip angle \u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eα\u003c/w:t\u003e\u003c/w:r\u003e\u003cw:r\u003e\u003cw:t\u003e.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:rPr\u003e\u003cw:b/\u003e\u003c/w:rPr\u003e\u003cw:t\u003eEquation:\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003ealpha_angle = atan(vy / vx)\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"}],"term":"tag:\"steering\"","current_player_id":null,"fields":[{"name":"page","type":"integer","callback":null,"default":1,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":null,"static":null,"prepend":true},{"name":"per_page","type":"integer","callback":null,"default":50,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":null,"static":null,"prepend":true},{"name":"sort","type":"string","callback":null,"default":null,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":null,"static":null,"prepend":true},{"name":"body","type":"text","callback":null,"default":"*:*","directive":null,"facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":false},{"name":"group","type":"string","callback":null,"default":null,"directive":"group","facet":true,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"difficulty_rating_bin","type":"string","callback":null,"default":null,"directive":"difficulty_rating_bin","facet":true,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"id","type":"integer","callback":null,"default":null,"directive":"id","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"tag","type":"string","callback":null,"default":null,"directive":"tag","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"product","type":"string","callback":null,"default":null,"directive":"product","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"created_at","type":"timeframe","callback":{},"default":null,"directive":"created_at","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"profile_id","type":"integer","callback":null,"default":null,"directive":"author_id","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"created_by","type":"string","callback":null,"default":null,"directive":"author","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"player_id","type":"integer","callback":null,"default":null,"directive":"solver_id","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"player","type":"string","callback":null,"default":null,"directive":"solver","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"solvers_count","type":"integer","callback":null,"default":null,"directive":"solvers_count","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"comments_count","type":"integer","callback":null,"default":null,"directive":"comments_count","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"likes_count","type":"integer","callback":null,"default":null,"directive":"likes_count","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"leader_id","type":"integer","callback":null,"default":null,"directive":"leader_id","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"leading_solution","type":"integer","callback":null,"default":null,"directive":"leading_solution","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true}],"filters":[{"name":"asset_type","type":"string","callback":null,"default":null,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":null,"static":"\"cody:problem\"","prepend":true},{"name":"profile_id","type":"integer","callback":{},"default":null,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":"author_id","static":null,"prepend":true}],"query":{"params":{"per_page":50,"term":"tag:\"steering\"","current_player":null,"sort":"map(difficulty_value,0,0,999) 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