diff --git a/mpc_pybullet_demo/cvxpy_mpc/vehicle_model.py b/mpc_pybullet_demo/cvxpy_mpc/vehicle_model.py
index 28e09b0..2127c6d 100644
--- a/mpc_pybullet_demo/cvxpy_mpc/vehicle_model.py
+++ b/mpc_pybullet_demo/cvxpy_mpc/vehicle_model.py
@@ -3,20 +3,21 @@ import numpy as np
 
 class VehicleModel:
     """
+    Helper class that contains the parameters of the vehicle to be controlled
 
     Attributes:
-        wheelbase:
-        max_speed:
-        max_acc:
-        max_d_acc:
-        max_steer:
-        max_d_steer:
+        wheelbase: [m]
+        max_speed: [m/s]
+        max_acc: [m/ss]
+        max_d_acc: [m/sss]
+        max_steer: [rad]
+        max_d_steer: [rad/s]
     """
 
     def __init__(self):
-        self.wheelbase = 0.3  # vehicle wheelbase [m]
-        self.max_speed = 1.5  # [m/s]
-        self.max_acc = 1.0  # [m/ss]
-        self.max_d_acc = 1.0  # [m/sss]
-        self.max_steer = np.radians(30)  # [rad]
-        self.max_d_steer = np.radians(30)  # [rad/s]
+        self.wheelbase = 0.3
+        self.max_speed = 1.5
+        self.max_acc = 1.0
+        self.max_d_acc = 1.0
+        self.max_steer = np.radians(30)
+        self.max_d_steer = np.radians(30)