Lane Change Reference Generator

Generate double-lane change maneuver reference signals

Description

The Lane Change Reference Generator block sets the parameters that configure the double-lane change maneuver.

After the vehicle reaches the reference velocity, the block commands a zero acceleration signal and generates a lateral reference trajectory as a function of the longitudinal displacement. The block also generates signals indicating the left and right lane boundaries as a function of the axle width.

Use the Steady-state initial conditions parameter to specify the initial conditions for the maneuver. By default, the parameter is set to Initialize from model, and the simulation starts with the vehicle at rest at the specified initial position. If you want to start the simulation at the non-zero steady-state velocity:

1. Set Steady-state initial conditions to Solve using block parameters.

2. On the Steady-State Solver tab, specify the initial conditions, workspace variable, and solver settings. Click Generate steady state solution.

3. After the simulation completes, set Steady-state initial conditions to Resume from a workspace variable.

4. Set Steady-state solution to start from, ssVar to the workspace variable you specified in step 2.

5. Run the simulation.

For an example, see Start Double-Lane Change Maneuver at Target Velocity.

Examples

Double Lane Change Reference Application

Simulate a full vehicle dynamics model undergoing a double lane change maneuver standard ISO 3888-2. Use for vehicle dynamics ride and handling analysis and chassis controls development, including yaw stability and lateral acceleration limits.

• Open Script

Ports

Input

VehFdbk — Vehicle feedback

Bus

Bus containing vehicle feedback signals, including velocity, acceleration, and steering wheel torque.

Output

Lane — Lane boundaries

Bus

Bus containing left, right, and lateral reference lane boundaries.

Ref — Vehicle reference signals

Bus

Bus containing the vehicle reference signals, including longitudinal and lateral displacement, and steering.

Parameters

Maneuver

Steady-state initial conditions — Start maneuver from steady-state

Initialize from model (default) | Solve using block parameters | Resume from a workspace variable

Use the Steady-state initial conditions parameter to specify the steady-state initial conditions for the maneuver. By default, the simulation will not find or start the simulation at the steady-state operating points.

Setting	Description
Initialize from model	Simulation starts maneuver at the simulation start time specified by Maneuver start time, t_start at longitudinal velocity of 0.
Solve using block parameters	Simulation finds the steady-state operating points using the parameters on the Steady-State Solver tab.
Resume from a workspace variable	Simulation starts at the steady-state operating points workspace variable specified by Steady-state solution to start from, ssVar.

Steady-state solution to start from, ssVar — Workspace variable with steady-state operating points

char

Workspace variable containing the steady-state operating points.

Dependencies

To enable this parameter, set Steady-state solver mode to Resume from a workspace variable.

Maneuver start time, t_start — Start time

scalar

Maneuver start time, in s.

Dependencies

To enable this parameter, set Steady-state initial conditions to Initialize from model.

Inertial longitudinal position of gate entrance, XGate — Position

175 (default) | scalar

Inertial longitudinal position of gate entrance, in m.

Longitudinal entrance velocity setpoint, xdot_r — Target velocity

35 (default) | scalar

Target velocity.

Dependencies

To enable this parameter, set Steady-state initial conditions to Initialize from model or Solve using block parameters.

Longitudinal entrance velocity setpoint units, xdotUnit — Units

mph (default)

Units for target velocity.

Dependencies

To enable this parameter, set Steady-state initial conditions to Initialize from model or Solve using block parameters.

Vehicle width, vehW — Vehicle width

2 (default) | scalar

Vehicle width, in m.

The left and right lane boundaries are a function of the Vehicle width parameter.

Lateral offset, latoff — Lateral offset

scalar

Lateral offset, in m.

Lateral reference position breakpoints, latRefbp — Breakpoints

scalar

Lateral reference position breakpoints, in m.

Use the Lateral reference position breakpoints and Lateral reference data parameters to specify the lateral reference trajectory as a function of the longitudinal distance.

Lateral reference data, latRef — Lateral data

scalar

Use the Lateral reference position breakpoints and Lateral reference data parameters to specify the lateral reference trajectory as a function of the longitudinal distance.

Dependencies

To enable this parameter, set Steady-state initial conditions to Initialize from model or Solve using block parameters.

Steady-State Solver

Initial longitudinal position, X_o — Initial longitudinal position

175 (default) | scalar

Initial vehicle CG position along the earth-fixed X-axis, in m.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Initial lateral position, Y_o — Initial lateral position

scalar

Initial vehicle CG position along the earth-fixed Y-axis, in m.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Initial heading (yaw) angle, psi_o — Initial yaw angle

scalar

Initial vehicle yaw angle about the earth-fixed Z-axis, in rad.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Steady-state solver tolerance, ssTol — Solver velocity tolerance

scalar

Steady-state solver velocity tolerance.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Maximum simulated time to reach steady-state, ssMaxTime — Max time

scalar

Maximum simulated time to reach steady-state, in s.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Workspace variable name to generate, ssWSName — Steady-state operating points

scalar

Name of workspace variable containing steady-state operating points.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Version History

Introduced in R2019a