Predictive Driver

Predictive driver controller to track longitudinal speed and lateral path

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Libraries:
Vehicle Dynamics Blockset / Vehicle Scenarios / Driver

Description

The Predictive Driver block implements a controller that generates normalized steering, acceleration, and braking commands to track longitudinal velocity and a lateral reference displacement. The normalized commands can vary between -1 to 1. The controller uses a single-track (bicycle) model for optimal single-point preview control.

Configurations

External Actions

Use the External Actions parameters to create input ports for signals that you can use to simulate standard test maneuvers. The block uses this priority order for the input commands: disable (highest), hold, override.

This table summarizes the external action parameters.

Goal	External Action Parameter	Input Ports	Data Type
Override the accelerator command with an input acceleration command.	Accelerator override	EnablAccelOvr	Boolean
		AccelOvrCmd	double
Hold the acceleration command at the current value.	Accelerator hold	AccelHld	Boolean
Disable the acceleration command.	Accelerator disable	AccelZero	Boolean
Override the decelerator command with an input deceleration command.	Decelerator override	EnablDecelOvr	Boolean
		DecelOvrCmd	double
Hold the decelerator command at current value.	Decelerator hold	DecelHld	Boolean
Disable the decelerator command.	Decelerator disable	DecelZero	Boolean
Override the steering command with an input steering command.	Steering override	EnblSteerOvr	Boolean
		SteerOvrCmd	double
Hold the steering command at the current value.	Steering hold	SteerHld	Boolean
Disable the steering command.	Steering disable	SteerZero	Boolean

Controllers

Use the Longitudinal control type, cntrlType parameter to specify one of these control options.

Setting	Block Implementation
PI	Proportional-integral (PI) control with tracking windup and feedforward gains.
Scheduled PI	PI control with tracking windup and feedforward gains that are a function of vehicle velocity.
Predictive	Optimal single-point preview (look ahead) control model developed by C. C. MacAdam1, 2, 3. The model represents driver steering control behavior during path-following and obstacle avoidance maneuvers. Drivers preview (look ahead) to follow a predefined path. To implement the MacAdam model, the block: Represents the dynamics as a linear single track (bicycle) vehicle Minimizes the previewed error signal at a single point T* seconds ahead in time Accounts for the driver lag deriving from perceptual and neuromuscular mechanisms

Use the Lateral control type, controlTypeLat parameter to specify the type of lateral control. The table specifies the block implementation.

Setting	Block Implementation
Predictive (default)	Optimal single-point preview (look ahead) control model developed by C. C. MacAdam1, 2, 3. The model represents driver steering control behavior during path-following and obstacle avoidance maneuvers. Drivers preview (look ahead) to follow a predefined path.
Stanley	Controller that uses the Stanley4 method to minimize the position error and the angle error of the current pose with respect to the reference pose. On the Reference Control pane, use the: Vector input for poses parameter to input the to specify the input. Setting Implementation off (default) Block uses the longitudinal, lateral, and yaw reference (LongRef, LatRef, LatRef) input ports and the feedback (LongFdbk, LatFdbk, LatFdbk) input ports for the reference and feedback pose. on Block uses input ports, RefPose and CurrPose, for the reference and feedback pose, respectively. Include dynamics parameter to specify the type of model for the controller to use. Setting Implementation off (default) Controller uses a kinematic bicycle model that is suitable for path following in low-speed environments such as parking lots, where inertial effects are minimal. on Controller uses a dynamic bicycle model that is suitable for path following in high-speed environments such as highways, where inertial effects are more pronounced.

Shift

Use the Shift type, ShftType parameter to specify one of these shift options.

Setting	Block Implementation
None	No transmission. Block outputs a constant gear of 1. Use this setting to minimize the number of parameters you need to generate acceleration and braking commands to track forward vehicle motion. This setting does not allow reverse vehicle motion.
Reverse, Neutral, Drive	Block uses a Stateflow® chart to model reverse, neutral, and drive gear shift scheduling. Use this setting to generate acceleration and braking commands to track forward and reverse vehicle motion using simple reverse, neutral, and drive gear shift scheduling. Depending on the vehicle state and vehicle velocity feedback, the block uses the initial gear and time required to shift to shift the vehicle up into drive or down into reverse or neutral. For neutral gears, the block uses braking commands to control the vehicle speed. For reverse gears, the block uses an acceleration command to generate torque and a brake command to reduce vehicle speed.
Scheduled	Block uses a Stateflow chart to model reverse, neutral, park, and N-speed gear shift scheduling. Use this setting to generate acceleration and braking commands to track forward and reverse vehicle motion using reverse, neutral, park, and N-speed gear shift scheduling. Depending on the vehicle state and vehicle velocity feedback, the block uses these parameters to determine the: Initial gear Upshift and downshift accelerator pedal positions Upshift and downshift velocity Timing for shifting and engaging forward and reverse from neutral For neutral gears, the block uses braking commands to control the vehicle speed. For reverse gears, the block uses an acceleration command to generate torque and a brake command to reduce vehicle speed.
External	Block uses the input gear, vehicle state, and velocity feedback to generate acceleration and braking commands to track forward and reverse vehicle motion. For neutral gears, the block uses braking commands to control the vehicle speed. For reverse gears, the block uses an acceleration command to generate torque and a brake command to reduce vehicle speed.

Units

Use the Longitudinal velocity units, velUnits parameter to specify units for longitudinal velocity input ports.

Use the Angular units, angUnits parameter to specify units for yaw, steering, and pose angle input and output ports.

Gear Signal

Use the Output gear signal parameter to create the GearCmd output port. The GearCmd signal contains the integer value of the commanded vehicle gear.

Gear	Integer
Park	80
Reverse	-1
Neutral	0
Drive	1
Gear	Gear number

Output Handwheel Angle

Use the Output handwheel angle parameter to specify the units for the steering ports.

Setting	Block Implementation	Port
off (default)	Commanded road wheel steer angle, normalized from -1 through 1. The block uses the road wheel angle saturation limit parameter, Road wheel angle limit, theta, to normalize the command.	SteerCmd — Output
	Overrides the steering command with a road wheel input steering command normalized from -1 through 1.	SteerOvrCmd — Input
on	Commanded handwheel steer angle, in units specified by Angular units, angUnits.	SteerCmd — Output
	Overrides the steering command with a handwheel input steering command, in units specified by Angular units, angUnits.	SteerOvrCmd — Input

Controller: PI Speed-Tracking

If you set the control type to PI or Scheduled PI, the block implements proportional-integral (PI) control with tracking windup and feedforward gains. For the Scheduled PI configuration, the block uses feed forward gains that are a function of vehicle velocity.

To calculate the speed control output, the block uses these equations.

Setting	Equation
PI	$$y=\frac{K_{ff}}{v_{nom}}{v}_{ref}+\frac{K_p{e}_{ref}}{v_{nom}}+{\displaystyle \int \left(\frac{K_i{e}_{ref}}{v_{nom}}+K_{aw}{e}_{out}\right)dt+K_g\gamma }$$
Scheduled PI	$$y=\frac{K_{ff}(v)}{v_{nom}}{v}_{ref}+\frac{K_p(v)e_{ref}}{v_{nom}}+{\displaystyle \int \left(\frac{K_i(v)e_{ref}}{v_{nom}}+K_{aw}{e}_{out}\right)dt+K_g(v)\gamma }$$

$$\begin{array}{l}\text{where:}\\ \\ e_{ref}=v_{ref}-v\\ e_{out}=y_{sat}-y\\ \\ y_{sat}=\{\begin{array}{cc}-1& y<-1\\ y& -1\le y\le 1\\ 1& 1<y\end{array}\end{array}$$

The velocity error low-pass filter uses this transfer function.

$$H(s)=\frac{1}{{\tau }_{err}s+1}\text{ for }{\tau }_{err}>0$$

To calculate the acceleration and braking commands, the block uses these equations.

$$\begin{array}{l}{y}_{acc}=\{\begin{array}{cc}0& y_{sat}<0\\ y_{sat}& 0\le y_{sat}\le 1\\ 1& 1<y_{sat}\end{array}\\ \\ y_{dec}=\{\begin{array}{cc}0& y_{sat}>0\\ -y_{sat}& -1\le y_{sat}\le 0\\ 1& y_{sat}<-1\end{array}\end{array}$$

The equations use these variables.

vnom	Nominal vehicle speed
Kp	Proportional gain
Ki	Integral gain
Kaw	Anti-windup gain
Kff	Velocity feedforward gain
Kg	Grade angle feedforward gain
γ	Grade angle
τerr	Error filter time constant
y	Nominal control output magnitude
ysat	Saturated control output magnitude
eref	Velocity error
eout	Difference between saturated and nominal control outputs
yacc	Acceleration signal
ydec	Braking signal
v	Velocity feedback signal
vref	Reference velocity signal

Controller: Predictive Speed-Tracking

If you set the Longitudinal control type, cntrlType or Lateral control type, cntrlType to Predictive, the block implements an optimal single-point preview (look ahead) control model developed by C. C. MacAdam^{[1], [2], [3]}. The model represents driver steering control behavior during path-following and obstacle avoidance maneuvers. Drivers preview (look ahead) to follow a predefined path. To implement the MacAdam model, the block:

• Represents the dynamics as a linear single track (bicycle) vehicle

• Minimizes the previewed error signal at a single point T* seconds ahead in time

• Accounts for the driver lag deriving from perceptual and neuromuscular mechanisms

Vehicle Dynamics

For lateral and yaw motion, the block implements these linear dynamic equations.

$\begin{array}{l}{x}_1=U\\ {\dot{x}}_1=x_2=\frac{K_{pt}}{m}+ vr-g\text{sin}(\gamma )+F_r{x}_1\\ \dot{y}=v+U\psi \\ \dot{v}=\left[-\frac{2\left(C_{\alpha F}+C_{\alpha R}\right)}{mU}\right]v+\left[\frac{2\left(b{C}_{\alpha R}-a{C}_{\alpha F}\right)}{mU}-U\right]r+\left(\frac{2C_{\alpha F}}{m}\right){\delta }_F\\ \dot{r}=\left[\frac{2\left(b{C}_{\alpha R}-a{C}_{\alpha F}\right)}{IU}\right]v+\left[-\frac{2\left(a^2{C}_{\alpha F}+b^2{C}_{\alpha R}\right)}{IU}\right]r+\left(\frac{2a{C}_{\alpha F}}{I}\right){\delta }_F\\ \dot{\psi }=r\end{array}$

In matrix notation:

$\begin{array}{l}\dot{x}=Fx+gu\\ \\ \text{where:}\\ \\ x=\left[\begin{array}{c}\begin{array}{c}{x}_1\\ x_2\\ y\\ v\\ r\end{array}\\ \psi \end{array}\right]\\ \\ F=\left[\begin{array}{cccccc}0& 1& 0& 0& 0& 0\\ \frac{F_r}{m}& 0& 0& 0& v& 0\\ 0& 0& 0& 1& 0& U\\ 0& 0& 0& -\frac{2\left(C_{\alpha F}+C_{\alpha R}\right)}{mU}& \frac{2\left(b{C}_{\alpha R}-a{C}_{\alpha F}\right)}{mU}-U& 0\\ 0& 0& 0& \frac{2\left(b{C}_{\alpha R}-a{C}_{\alpha F}\right)}{IU}& -\frac{2\left(a^2{C}_{\alpha F}+b^2{C}_{\alpha R}\right)}{IU}& 0\\ 0& 0& 0& 0& 1& 0\end{array}\right]\\ \\ g=\left[\begin{array}{c}\begin{array}{cc}0& 0\\ \frac{K_{pt}}{m}& 0\\ 0& 0\\ 0& \frac{2C_{\alpha F}}{m}\\ 0& \frac{2a{C}_{\alpha F}}{I}\\ 0& 0\end{array}\end{array}\right]\\ \\ u=\left[\begin{array}{c}\begin{array}{c}\overline{u}\\ {\delta }_F\end{array}\end{array}\right] \\ \\ \overline{u}=u- \frac{m^2}{K_{pt}}g\text{sin}(\gamma )\end{array}$

The single-point model assumes a minimum previewed error signal at a single point T* seconds ahead in time. a* is the driver ability to predict the future vehicle response based on the current steering control input. b* is the driver ability to predict the future vehicle response based on the current vehicle state. The block uses these equations.

$\begin{array}{l}{a}^{*}=(T^{*})m^T[I+{\displaystyle \sum }_{n=1}^{\infty }\frac{F^n{(T^{*})}^n}{\left(n+1\right)!}]g\\ b^{*}=m^T[I+{\displaystyle \sum }_{n=1}^{\infty }\frac{F^n{(T^{*})}^n}{n!}]\\ m^T=[\begin{array}{cccccc}1& 1& 1& 0& 0& 0\end{array}]\end{array}$

The equations use these variables.

a, b	Forward and rearward tire location, respectively
m	Vehicle mass
I	Vehicle rotational inertia
CɑF	Front tire cornering coefficient
CɑR	Rear tire cornering coefficient
a*, b*	Driver prediction scalar and vector gain, respectively
x	Predicted vehicle state vector
v	Lateral velocity
r	Yaw rate
Ψ	Front wheel heading angle
y	Lateral displacement
F	System matrix
δ, δF	Steer angle and front axle steer angle, respectively
γ	Grade angle
g	Control coefficient vector
U	Forward (longitudinal) vehicle velocity
T*	Preview time window
ƒ(t+T*)	Previewed path input T* seconds ahead
u	Tractive force
mT	Constant observer vector; provides vehicle lateral position
ar	Static rolling and driveline resistance
br	Linear rolling and driveline resistance
cr	Aerodynamic rolling and driveline resistance
Fr	Rolling resistance

Optimization

The single-point model implemented by the block finds the steering command that minimizes a local performance index, J, over the current preview interval, (t, t+T).

$$J=\frac{1}{T}{\displaystyle {\int }_t^{t+T}{[f(\eta )-y(\eta )]}^2}d\eta$$

To minimize J with respect to the steering command, this condition must be met.

$$\frac{dJ}{du}=0$$

You can express the optimal control solution in terms of a current non-optimal and corresponding nonzero preview output error T* seconds ahead^{1, 2, 3}.

$$u^o(t)=u(t)+\frac{e(t+T^{*})}{a^{*}}$$

The block uses the preview distance and vehicle longitudinal velocity to determine the preview time window.

$$T^{*}=\frac{L}{U}$$

The equations use these variables.

T*	Preview time window
ƒ(t+T*)	Previewed path input T* sec ahead
y(t+T*)	Previewed plant output T* sec ahead
e(t+T*)	Previewed error signal T* sec ahead
u(t), uo(t)	Steer angle and optimal steer angle, respectively
L	Preview distance
J	Performance index
U	Forward (longitudinal) vehicle velocity

Driver Lag

The single-point model implemented by the block introduces a driver lag. The driver lag accounts for the delay when the driver is tracking tasks. Specifically, it is the transport delay deriving from perceptual and neuromuscular mechanisms. To calculate the driver transport delay, the block implements this equation.

$$H(s)=e^{-s\tau }$$

The equations use these variables.

τ	Driver transport delay
y(t+T*)	Previewed plant output T* sec ahead
e(t+T*)	Previewed error signal T* sec ahead
u(t), uo(t)	Steer angle and optimal steer angle, respectively
J	Performance index

Controller: Stanley Lateral Path-Tracking

If you set Lateral control type, controlTypeLat to Stanley, the block implements the Stanley method⁴. To compute the steering angle command, the Stanley controller minimizes the position error and the angle error of the current pose with respect to the reference pose. The driving direction of the vehicle determines these error values.

To compute the steering angle command, the controller minimizes the position error and the angle error of the current pose with respect to the reference pose.

• The position error is the lateral distance from the vehicle center-of-gravity (CG) to the reference point on the path.

• The angle error is the angle of the vehicle with respect to reference path.

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

VelRef — Reference vehicle velocity

scalar

Reference velocity, v_ref, in units specified by Longitudinal velocity units, velUnits.

LongRef — Longitudinal displacement reference

scalar

Longitudinal center of mass (CM) displacement reference, in the inertial reference frame, in m.

Dependencies

To enable this port:

1. Set Lateral control type, controlTypeLat to Stanley.

2. Clear Vector input for poses.

LatRef — Lateral displacement reference

scalar

Lateral center of mass (CM) displacement reference, in the inertial reference frame, in m.

Dependencies

To enable this port, do one of these:

• Set Lateral control type, controlTypeLat to Stanley and clear Vector input for poses.

• Set Lateral control type, controlTypeLat to Predictive.

YawRef — Yaw angle reference

scalar

Vehicle yaw angle, Ψ_o, in the inertial reference frame, in units specified by Angular units, angUnits.

Dependencies

To enable this port:

• Set Lateral control type, controlTypeLat to Stanley

• Clear Vector input for poses

EnblSteerOvr — Enable steering command override

scalar

Enable steering command override.

Dependencies

To enable this port, select Steering override.

Data Types: Boolean

SteerOvrCmd — Steering override command

scalar

Steering override command.

Use the Output handwheel angle parameter to specify the units for the steering ports.

Setting	Block Implementation	Port
off (default)	Commanded road wheel steer angle, normalized from -1 through 1. The block uses the road wheel angle saturation limit parameter, Road wheel angle limit, theta, to normalize the command.	SteerCmd — Output
	Overrides the steering command with a road wheel input steering command normalized from -1 through 1.	SteerOvrCmd — Input
on	Commanded handwheel steer angle, in units specified by Angular units, angUnits.	SteerCmd — Output
	Overrides the steering command with a handwheel input steering command, in units specified by Angular units, angUnits.	SteerOvrCmd — Input

Dependencies

To enable this port, select Steering override.

Data Types: double

SteerHld — Steering hold

scalar

Boolean signal that holds the steering command at the current value.

Dependencies

To enable this port, select Steering hold.

Data Types: Boolean

SteerZero — Disable steering command

scalar

Disable steering command.

Dependencies

To enable this port, select Steering disable.

Data Types: Boolean

EnblAccelOvr — Enable acceleration command override

scalar

Enable acceleration command override.

Dependencies

To enable this port, select Acceleration override.

Data Types: Boolean

AccelOvrCmd — Acceleration override command

scalar

Acceleration override command, normalized from 0 through 1.

Dependencies

To enable this port, select Acceleration override.

Data Types: double

AccelHld — Acceleration hold

scalar

Boolean signal that holds the acceleration command at the current value.

Dependencies

To enable this port, select Acceleration hold.

Data Types: Boolean

AccelZero — Disable acceleration command

scalar

Disable acceleration command.

Dependencies

To enable this port, select Acceleration disable.

Data Types: Boolean

EnblDecelOvr — Enable deceleration command override

scalar

Enable deceleration command override.

Dependencies

To enable this port, select Deceleration override.

Data Types: Boolean

DecelOvrCmd — Deceleration override command

scalar

Deceleration override command, normalized from 0 through 1.

Dependencies

To enable this port, select Deceleration override.

Data Types: double

DecelHld — Deceleration hold

scalar

Boolean signal that holds the deceleration command at the current value.

Dependencies

To enable this port, select Deceleration hold.

Data Types: Boolean

DecelZero — Disable deceleration command

scalar

Disable deceleration command.

Dependencies

To enable this port, select Deceleration disable.

Data Types: Boolean

ExtGear — Gear

scalar

Gear	Integer
Park	80
Reverse	-1
Neutral	0
Drive	1
Gear	Gear number

Dependencies

To enable this port, set Shift type, shftType to External.

Grade — Road grade angle

scalar

Road grade angle, γ, in deg.

Curvature — Path curvature

scalar

Path curvature defined as the rate of change of the tangent angle with respect to the arc length of the path, Κ, in 1/m.

Dependencies

To enable this port:

1. Set Lateral control type, controlTypeLat to Stanley.

2. Select Include dynamics.

RefPose — Reference pose

[X_ref, Y_ref, φ_ref] vector

Reference pose, specified as an [X_ref, Y_ref, φ_ref] vector. X_ref and Y_ref are in meters, and φ_ref are in units specified by Angular units, angUnits.

X_ref and Y_ref specify the reference point to steer the vehicle toward.

φ_ref specifies the orientation angle of the path at this reference point and is positive in the clockwise direction.

The reference point is the point on the path that is closest to the vehicle CG. You can use the either the Z-up or Z-down vehicle coordinate system, as long you use the same coordinate system (Z-up or Z-down) for block inputs and parameters.

Dependencies

To enable this port:

1. Set Lateral control type, controlTypeLat to Stanley.

2. Select Vector input for poses.

Data Types: single | double

VelFdbk — Longitudinal vehicle velocity

scalar

Longitudinal vehicle velocity, U, in the vehicle-fixed frame, in units specified by Longitudinal velocity units, velUnits.

CurrPose — Current pose

[X_curr, Y_curr, φ_curr] vector

Current pose of the vehicle, specified as an [X_curr, Y_curr, φ_curr] vector. X_curr and Y_curr are in meters, and φ_curr is in units specified by Angular units, angUnits.

X_curr and Y_curr specify the location of the vehicle, which is defined as the vehicle CG.

φ_curr specifies the orientation angle of the vehicle location at (X_curr, Y_curr) and is positive in the clockwise direction.

You can use the either the Z-up or Z-down vehicle coordinate system, as long you use the same coordinate system (Z-up or Z-down) for block inputs and parameters.

Dependencies

To enable this port:

1. Set Lateral control type, controlTypeLat to Stanley.

2. Select Vector input for poses.

Data Types: single | double

LatFdbk — Lateral displacement

scalar

Lateral CM displacement, y_o, in the inertial reference frame, in m.

Dependencies

To enable this port, do either of these:

• Set Lateral control type, controlTypeLat to Stanley and clear Vector input for poses.

• Set Lateral control type, controlTypeLat to Predictive.

LatVelFdbk — Lateral vehicle velocity

scalar

Lateral vehicle velocity, v_o , in the vehicle-fixed frame, in m/s.

Dependencies

To enable this port, Set Lateral control type, controlTypeLat to Predictive.

YawFdbk — Vehicle yaw angle

scalar

Vehicle yaw angle, Ψ_o, in the inertial reference frame, in units specified by Angular units, angUnits.

Dependencies

To enable this port, do either of these:

• Set Lateral control type, controlTypeLat to Stanley and clear Vector input for poses.

• Set Lateral control type, controlTypeLat to Predictive.

YawVelFdbk — Yaw rate

scalar

Yaw rate, r_o, in the vehicle-fixed frame, in units specified by Angular units, angUnits per sec.

Dependencies

To enable this port, Set Lateral control type, controlTypeLat to Predictive.

Output

Info — Bus signal

bus

Bus signal containing these block calculations.

Signal			Variable	Description
Steer			δF	Commanded steer angle, normalized from -1 through 1
Accel			yacc	Commanded vehicle acceleration, normalized from 0 through 1
Decel			ydec	Commanded vehicle deceleration, normalized from 0 through 1
Gear				Integer value of commanded gear
Clutch				Clutch command
Err	LatErr	Err	eref	Difference in reference vehicle position and vehicle position.
		ErrSqrSum	$${\displaystyle \underset{0}{\overset{t}{\int }}{e}_{ref}{}^2}dt$$	Integrated square of error.
		ErrMax	$$\max (e_{ref}(t))$$	Maximum error during simulation.
		ErrMin	$$\min (e_{ref}(t))$$	Minimum error during simulation.
	LngErr	Err	eref	Difference in reference vehicle speed and vehicle speed
		ErrSqrSum	$${\displaystyle \underset{0}{\overset{t}{\int }}{e}_{ref}{}^2}dt$$	Integrated square of error
		ErrMax	$$\max (e_{ref}(t))$$	Maximum error during simulation
		ErrMin	$$\min (e_{ref}(t))$$	Minimum error during simulation
ExtActions	EnblSteerOvr			Override the steering command with an input deceleration command
	SteerOvrCmd			Input steering override command
	SteerHld			Hold the steering command at the current value
	SteerZero			Disable the steering command
	EnblAccelOvr			Override the accelerator command with an input acceleration command
	AccelOvrCmd			Input accelerator override command
	AccelHld			Hold the acceleration command at the current value
	AccelZero			Disable the acceleration command
	EnblDecelOvr			Override the decelerator command with an input deceleration command
	DecelOvrCmd			Input deceleration override command
	DecelHld			Hold the decelerator command at current value
	DecelZero			Disable the decelerator command

SteerCmd — Steer angle command

scalar

Commanded steer angle, δ_F.

Use the Output handwheel angle parameter to specify the units for the steering ports.

Setting	Block Implementation	Port
off (default)	Commanded road wheel steer angle, normalized from -1 through 1. The block uses the road wheel angle saturation limit parameter, Road wheel angle limit, theta, to normalize the command.	SteerCmd — Output
	Overrides the steering command with a road wheel input steering command normalized from -1 through 1.	SteerOvrCmd — Input
on	Commanded handwheel steer angle, in units specified by Angular units, angUnits.	SteerCmd — Output
	Overrides the steering command with a handwheel input steering command, in units specified by Angular units, angUnits.	SteerOvrCmd — Input

AccelCmd — Commanded vehicle acceleration

scalar

Commanded vehicle acceleration, y_acc, normalized from 0 through 1.

DecelCmd — Commanded vehicle deceleration

scalar

Commanded vehicle deceleration, y_dec, normalized from 0 through 1.

GearCmd — Commanded vehicle gear

scalar

Integer value of commanded vehicle gear.

Gear	Integer
Park	80
Reverse	-1
Neutral	0
Drive	1
Gear	Gear number

Dependencies

To enable this port, select Output gear signal.

Parameters

Configuration

External Actions

Accelerator override — Override acceleration command

off (default) | on

Select to override the acceleration command with an input acceleration command.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	extAccelOvr
Values:	off (default) | on
Data Types:	character vector

Dependencies

Selecting this parameter creates the EnblAccelOvr and AccelOvrCmd input ports.

Accelerator hold — Hold acceleration command

off (default) | on

Select to hold the acceleration command.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	extAccelHld
Values:	off (default) | on
Data Types:	character vector

Dependencies

Selecting this parameter creates the AccelHld input port.

Accelerator disable — Disable acceleration command

off (default) | on

Select to disable the acceleration command.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	extAccelZero
Values:	off (default) | on
Data Types:	character vector

Dependencies

Selecting this parameter creates the AccelZero input port.

Decelerator override — Override deceleration command

off (default) | on

Select to override the deceleration command with an input deceleration command.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	extDecelOvr
Values:	off (default) | on
Data Types:	character vector

Dependencies

Selecting this parameter creates the EnblDecelOvr and DecelOvrCmd input ports.

Decelerator hold — Hold deceleration command

off (default) | on

Select to hold the deceleration command.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	extDecelHld
Values:	off (default) | on
Data Types:	character vector

Dependencies

Selecting this parameter creates the DecelHld input port.

Decelerator disable — Disable deceleration command

off (default) | on

Select to disable the deceleration command.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	extDecelZero
Values:	off (default) | on
Data Types:	character vector

Dependencies

Selecting this parameter creates the DecelZero input port.

Steering override — Override steering command

off (default) | on

Select to override the steering command with an input steering command.

Dependencies

Selecting this parameter creates the EnblSteerOvr and SteerOvrCmd input ports.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	extSteerOvr
Values:	off (default) | on
Data Types:	character vector

Steering hold — Hold steering command

off (default) | on

Select to hold the steering command.

Dependencies

Selecting this parameter creates the SteerHld input port.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	extSteerHld
Values:	off (default) | on
Data Types:	character vector

Steering disable — Disable steering command

off (default) | on

Select to disable the steering command.

Dependencies

Selecting this parameter creates the SteerZero input port.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	extSteerZero
Values:	off (default) | on
Data Types:	character vector

Control and Shift

Longitudinal control type, cntrlType — Longitudinal control

PI (default) | Scheduled PI | Predictive

Type of longitudinal control.

Setting	Block Implementation
PI	Proportional-integral (PI) control with tracking windup and feedforward gains.
Scheduled PI	PI control with tracking windup and feedforward gains that are a function of vehicle velocity.
Predictive	Optimal single-point preview (look ahead) control model developed by C. C. MacAdam1, 2, 3. The model represents driver steering control behavior during path-following and obstacle avoidance maneuvers. Drivers preview (look ahead) to follow a predefined path. To implement the MacAdam model, the block: Represents the dynamics as a linear single track (bicycle) vehicle Minimizes the previewed error signal at a single point T* seconds ahead in time Accounts for the driver lag deriving from perceptual and neuromuscular mechanisms

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	cntrlType
Values:	PI (default) | Scheduled PI | Predictive
Data Types:	character vector

Lateral control type, controlTypeLat — Controller

Predictive (default) | Stanley

Use the Lateral control type, controlTypeLat parameter to specify the type of lateral control. The table specifies the block implementation.

Setting	Block Implementation
Predictive (default)	Optimal single-point preview (look ahead) control model developed by C. C. MacAdam1, 2, 3. The model represents driver steering control behavior during path-following and obstacle avoidance maneuvers. Drivers preview (look ahead) to follow a predefined path.
Stanley	Controller that uses the Stanley4 method to minimize the position error and the angle error of the current pose with respect to the reference pose. On the Reference Control pane, use the: Vector input for poses parameter to input the to specify the input. Setting Implementation off (default) Block uses the longitudinal, lateral, and yaw reference (LongRef, LatRef, LatRef) input ports and the feedback (LongFdbk, LatFdbk, LatFdbk) input ports for the reference and feedback pose. on Block uses input ports, RefPose and CurrPose, for the reference and feedback pose, respectively. Include dynamics parameter to specify the type of model for the controller to use. Setting Implementation off (default) Controller uses a kinematic bicycle model that is suitable for path following in low-speed environments such as parking lots, where inertial effects are minimal. on Controller uses a dynamic bicycle model that is suitable for path following in high-speed environments such as highways, where inertial effects are more pronounced.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	cntrlTypeLat
Values:	Predictive (default) | Stanley
Data Types:	character vector

Shift type, shftType — Shift type

None (default) | Reverse, Neutral, Drive | Scheduled | External

Shift type.

Setting	Block Implementation
None	No transmission. Block outputs a constant gear of 1. Use this setting to minimize the number of parameters you need to generate acceleration and braking commands to track forward vehicle motion. This setting does not allow reverse vehicle motion.
Reverse, Neutral, Drive	Block uses a Stateflow chart to model reverse, neutral, and drive gear shift scheduling. Use this setting to generate acceleration and braking commands to track forward and reverse vehicle motion using simple reverse, neutral, and drive gear shift scheduling. Depending on the vehicle state and vehicle velocity feedback, the block uses the initial gear and time required to shift to shift the vehicle up into drive or down into reverse or neutral. For neutral gears, the block uses braking commands to control the vehicle speed. For reverse gears, the block uses an acceleration command to generate torque and a brake command to reduce vehicle speed.
Scheduled	Block uses a Stateflow chart to model reverse, neutral, park, and N-speed gear shift scheduling. Use this setting to generate acceleration and braking commands to track forward and reverse vehicle motion using reverse, neutral, park, and N-speed gear shift scheduling. Depending on the vehicle state and vehicle velocity feedback, the block uses these parameters to determine the: Initial gear Upshift and downshift accelerator pedal positions Upshift and downshift velocity Timing for shifting and engaging forward and reverse from neutral For neutral gears, the block uses braking commands to control the vehicle speed. For reverse gears, the block uses an acceleration command to generate torque and a brake command to reduce vehicle speed.
External	Block uses the input gear, vehicle state, and velocity feedback to generate acceleration and braking commands to track forward and reverse vehicle motion. For neutral gears, the block uses braking commands to control the vehicle speed. For reverse gears, the block uses an acceleration command to generate torque and a brake command to reduce vehicle speed.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	shftType
Values:	None (default) | Reverse, Neutral, Drive | Scheduled | External
Data Types:	character vector

Longitudinal velocity units, velUnits — Velocity units

m/s (default)

Vehicle velocity reference and feedback units.

Dependencies

If you set Longitudinal control type, CntrlType control type to Scheduled or Scheduled PI, the block uses the Longitudinal velocity units, velUnits for the Nominal speed, vnom parameter dimension.

If you set Shift Type, shftType to Scheduled, the block uses the Longitudinal velocity units, velUnits for these parameter dimensions:

• Upshift velocity data table, upShftTbl

• Downshift velocity data table, dwnShftTbl

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	velUnits
Values:	m/s (default)
Data Types:	character vector

Angular units, angUnits — Yaw, steering, and pose angle units

rad (default) | deg

Units for yaw, steering, and pose angle input and output ports.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	angUnits
Values:	rad (default) | deg
Data Types:	character vector

Output gear signal — Create GearCmd output port

off (default) | on

Specify to create output port GearCmd.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	gearOut
Values:	off (default) | on
Data Types:	character vector

Output handwheel angle — Steering port units in rad

off (default) | on

Use the Output handwheel angle parameter to specify the units for the steering ports.

Setting	Block Implementation	Port
off (default)	Commanded road wheel steer angle, normalized from -1 through 1. The block uses the road wheel angle saturation limit parameter, Road wheel angle limit, theta, to normalize the command.	SteerCmd — Output
	Overrides the steering command with a road wheel input steering command normalized from -1 through 1.	SteerOvrCmd — Input
on	Commanded handwheel steer angle, in units specified by Angular units, angUnits.	SteerCmd — Output
	Overrides the steering command with a handwheel input steering command, in units specified by Angular units, angUnits.	SteerOvrCmd — Input

Dependencies

To create the SteerOvrCmd input port, select Steering override.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	steerOut
Values:	off (default) | on
Data Types:	character vector

Reference Control

Longitudinal

Proportional gain, Kp — Gain

10 (default) | scalar

Proportional gain, K_p, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Kp
Values:	10 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Control type to PI.

Integral gain, Ki — Gain

5 (default) | scalar

Proportional gain, K_i, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Ki
Values:	5 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Control type to PI.

Velocity feed-forward, Kff — Gain

.1 (default) | scalar

Velocity feedforward gain, K_ff, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Kff
Values:	.1 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Control type to PI.

Grade angle feed-forward, Kg — Gain

0 (default) | scalar

Grade angle feedforward gain, K_g, in 1/deg.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Kg
Values:	0 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Control type to PI.

Velocity gain breakpoints, VehVelVec — Breakpoints

[0 100] (default) | vector

Velocity gain breakpoints, VehVelVec, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	VehVelVec
Values:	[0 100] (default) | vector
Data Types:	double

Dependencies

To create this parameter, set Control type to Scheduled PI.

Velocity feed-forward gain values, KffVec — Gain

[.1 .1] (default) | vector

Velocity feedforward gain values, KffVec, as a function of vehicle velocity, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	KffVec
Values:	[.1 .1] (default) | vector
Data Types:	double

Dependencies

To create this parameter, set Control type to Scheduled PI.

Proportional gain values, KpVec — Gain

[10 10] (default) | vector

Proportional gain values, KpVec, as a function of vehicle velocity, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	KpVec
Values:	[10 10] (default) | vector
Data Types:	double

Dependencies

To create this parameter, set Control type to Scheduled PI.

Integral gain values, KiVec — Gain

[5 5] (default) | vector

Integral gain values, KiVec, as a function of vehicle velocity, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	KiVec
Values:	[5 5] (default) | vector
Data Types:	double

Dependencies

To create this parameter, set Control type to Scheduled PI.

Grade angle feed-forward values, KgVec — Grade gain

[0 0] (default) | vector

Grade angle feedforward values, KgVec, as a function of vehicle velocity, in 1/deg.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	KgVec
Values:	[0 0] (default) | vector
Data Types:	double

Dependencies

To create this parameter, set Control type to Scheduled PI.

Nominal speed, vnom — Nominal vehicle speed

5 (default) | scalar

Nominal vehicle speed, v_nom, in units specified by the Reference and feedback units, velUnits parameter. The block uses the nominal speed to normalize the controller gains.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	vnom
Values:	5 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Control type to PI or Scheduled PI.

Anti-windup, Kaw — Gain

1 (default) | scalar

Anti-windup gain, K_aw, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Kaw
Values:	1 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Control type to PI or Scheduled PI.

Error filter time constant, tauerr — Filter

.01 (default) | scalar

Error filter time constant, τ_err, in s. To disable the filter, enter 0.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tauerr
Values:	.01 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Control type to PI or Scheduled PI.

Predictive

Driver response time, tau — Response time

0.1 (default) | scalar

Driver response time, τ, in s.

Dependencies

To enable this parameter, Set Longitudinal control type, cntrlType or Lateral control type, controlTypeLat to Predictive.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tau
Values:	0.1 (default) | scalar
Data Types:	double

Preview distance, L — Distance

3 (default) | scalar

Driver preview distance, L, in m. Used to determine the preview time window, T^*.

Dependencies

To enable this parameter, Set Longitudinal control type, cntrlType or Lateral control type, controlTypeLat to Predictive.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	L
Values:	3 (default) | scalar
Data Types:	double

Effective vehicle total tractive force, Kpt — Tractive force

3000 (default) | scalar

Effective vehicle total tractive force, K_pt, in N.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Kpt
Values:	3000 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Longitudinal control type, cntrlType to Predictive.

Rolling resistance coefficient, aR — Resistance

200 (default) | scalar

Static rolling and driveline resistance coefficient, a_R, in N. Block uses the parameter to estimate the constant acceleration or braking effort.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	aR
Values:	200 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Longitudinal control type, cntrlType to Predictive.

Rolling and driveline resistance coefficient, bR — Resistance

2.5 (default) | scalar

Rolling and driveline resistance coefficient, b_R, in N·s/m. Block uses the parameter to estimate the linear velocity-dependent acceleration or braking effort.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	bR
Values:	2.5 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Longitudinal control type, cntrlType to Predictive.

Aerodynamic drag coefficient, cR — Drag

.5 (default) | scalar

Aerodynamic drag coefficient, c_R, in N·s^2/m^2. Block uses the parameter to estimate the quadratic velocity-dependent acceleration or braking effort.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	cR
Values:	0.5 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Longitudinal control type, cntrlType to Predictive.

Gravitational constant, g — Gravitational constant

9.81 (default) | scalar

Gravitational constant, g, in m/s^2.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	g
Values:	9.81 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Longitudinal control type, cntrlType to Predictive.

Stanley

Vector input for poses — Select to create RefPose and CurrPose input ports

off (default) | on

Select this parameter to create the RefPose and CurrPose input ports.

Dependencies

To enable this parameter, Set Lateral control type, controlTypeLat to Stanley.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	vecPose
Values:	off (default) | on
Data Types:	character vector

Include dynamics — Select to include dynamics

off (default) | on

The controller computes this command using the Stanley method, whose control law is based on both a kinematic and dynamic bicycle model. To change between models, use this parameter.

Setting	Implementation
off	Controller uses a kinematic bicycle model that is suitable for path following in low-speed environments such as parking lots, where inertial effects are minimal.
on	Controller uses a dynamic bicycle model that is suitable for path following in high-speed environments such as highways, where inertial effects are more pronounced.

Dependencies

To enable this parameter, Set Lateral control type, controlTypeLat to Stanley.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	dynamMode
Values:	off (default) | on
Data Types:	character vector

Position gain of forward motion, PositionGainF — Position gain of vehicle in forward motion

2.5 (default) | positive real scalar

Position gain of the vehicle when it is in forward motion, specified as a positive scalar. This value determines how much the position error affects the steering angle. Typical values are in the range [1, 5]. Increase this value to increase the magnitude of the steering angle.

Dependencies

To enable this parameter, Set Lateral control type, controlTypeLat to Stanley.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	PositionGainF
Values:	2.5 (default) | scalar
Data Types:	double

Position gain of reverse motion, PositionGainR — Position gain of vehicle in reverse motion

2.5 (default) | positive real scalar

Position gain of the vehicle when it is in reverse motion, specified as a positive scalar. This value determines how much the position error affects the steering angle. Typical values are in the range [1, 5]. Increase this value to increase the magnitude of the steering angle.

Dependencies

To enable this parameter, Set Lateral control type, controlTypeLat to Stanley.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	PositionGainR
Values:	2.5 (default) | scalar
Data Types:	double

Yaw rate feedback gain, YawRateGain — Yaw rate feedback gain

.2 (default) | nonnegative real scalar

Yaw rate feedback gain, specified as a nonnegative real scalar. This value determines how much weight is given to the current yaw rate of the vehicle when the block computes the steering angle command.

Dependencies

To enable this parameter, Set Lateral control type, controlTypeLat to Stanley and select Include dynamics.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	YawRateGain
Values:	.2 (default) | scalar
Data Types:	double

Steering angle feedback gain, DelayGain — Steering angle feedback gain

.2 (default) | nonnegative real scalar

Steering angle feedback gain, specified as a nonnegative real scalar. This value determines how much the difference between the current steering angle command, SteerCmd, and the current steering angle, CurrSteer, affects the next steering angle command.

Dependencies

To enable this parameter, Set Lateral control type, controlTypeLat to Stanley and select Include dynamics.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	DelayGain
Values:	.2 (default) | scalar
Data Types:	double

Vehicle Parameters

Forward location of tire, a — Along vehicle longitudinal axis

1.41 (default) | scalar

Forward location of tire, a, in m. Distance from vehicle cg to forward tire location, along vehicle longitudinal axis.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	a
Values:	1.41 (default) | scalar
Data Types:	double

Rearward location of tire, b — Along vehicle longitudinal axis

1.41 (default) | scalar

Rearward location of tire, b, in m. Absolute value of distance from vehicle cg to rearward tire location, along vehicle longitudinal axis.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	b
Values:	1.41 (default) | scalar
Data Types:	double

Vehicle mass, m — Mass

2016 (default) | scalar

Vehicle mass, m, in kg.

Dependencies

To enable this port, do either of these:

• Set Lateral control type, controlTypeLat to Stanley and select Include dynamics.

• Set Lateral control type, controlTypeLat to Predictive.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	m
Values:	2016 (default) | scalar
Data Types:	double

Front tire cornering coefficient, Cy_f — Coefficient

25266 (default) | scalar

Cornering stiffness coefficient, C_αF , in N/rad.

Dependencies

To enable this port, do either of these:

• Set Lateral control type, controlTypeLat to Stanley and select Include dynamics.

• Set Lateral control type, controlTypeLat to Predictive.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Cy_f
Values:	25266 (default) | scalar
Data Types:	double

Rear tire cornering coefficient, Cy_r — Coefficient

70933 (default) | scalar

Cornering stiffness coefficient, C_αR , in N/rad.

Dependencies

To enable this port, set Lateral control type, controlTypeLat to Predictive.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Cy_r
Values:	70933 (default) | scalar
Data Types:	double

Vehicle rotational inertia, I — Inertia about yaw axis

4013 (default) | scalar

Vehicle rotational inertia, I, about the vehicle yaw axis, in N·m·s^2.

Dependencies

To enable this parameter, Set Lateral control type, controlTypeLat to Predictive.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	I
Values:	4013 (default) | scalar
Data Types:	double

Nominal steering ratio, Ksteer — Steering ratio

18 (default) | scalar

Steering ratio, K_steer. The value has no dimension.

Dependencies

To enable this parameter, select Output handwheel angle.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Ksteer
Values:	18 (default) | scalar
Data Types:	double

Road wheel angle limit, theta — Angle limit

45*pi/180 (default) | scalar

Road wheel angle limit, θ, in rad.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	theta
Values:	45*pi/180 (default) | scalar
Data Types:	double

Shift

Reverse, Neutral, Drive

Initial gear, GearInit — Initial gear

0 (default) | scalar

Integer value of the initial gear. The block uses the initial gear to generate acceleration and braking commands to track forward and reverse vehicle motion.

Gear	Integer
Park	80
Reverse	-1
Neutral	0
Drive	1
Gear	Gear number

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	GearInit
Values:	0 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Shift type, shftType to Reverse, Neutral, Drive or Scheduled. If you specify Reverse, Neutral, Drive, the Initial Gear, GearInit parameter value can be only -1, 0, or 1.

Time required to shift, tShift — Time

.1 (default) | scalar

Time required to shift, tShift, in s. The block uses the time required to shift to generate acceleration and braking commands to track forward and reverse vehicle motion using reverse, neutral, and drive gear shift scheduling.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tShift
Values:	.1 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Shift type, shftType to Reverse, Neutral, Drive.

Scheduled

Initial gear, GearInit — Initial gear

0 (default) | scalar

Integer value of the initial gear. The block uses the initial gear to generate acceleration and braking commands to track forward and reverse vehicle motion.

Gear	Integer
Park	80
Reverse	-1
Neutral	0
Drive	1
Gear	Gear number

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	GearInit
Values:	0 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Shift type, shftType to Reverse, Neutral, Drive or Scheduled. If you specify Reverse, Neutral, Drive, the Initial Gear, GearInit parameter value can be only -1, 0, or 1.

Up and down shift accelerator pedal positions, pdlVec — Pedal position breakpoints

[0.1 0.4 0.5 0.9] (default) | [1-by-m] vector

Pedal position breakpoints for lookup tables when calculating upshift and downshift velocities, dimensionless. Vector dimensions are 1 by the number of pedal position breakpoints, m.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	pdlVec
Values:	[0.1 0.4 0.5 0.9] (default) | [1-by-m] vector
Data Types:	double

Dependencies

To create this parameter, set Shift type, shftType to Scheduled.

Upshift velocity data table, upShftTbl — Table

[m-by-n] array

Upshift velocity data as a function of pedal position and gear, in units specified by the Reference and feedback units, velUnits parameter. Upshift velocities indicate the vehicle velocity at which the gear should increase by 1.

The array dimensions are m pedal positions by n gears. The first column of data, when n equals 1, is the upshift velocity for the neutral gear.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	upShftTbl
Values:	[m-by-n] array
Data Types:	double

Dependencies

To create this parameter, set Shift type, shftType to Scheduled.

Downshift velocity data table, dwnShftTbl — Table

[m-by-n] array

Downshift velocity data as a function of pedal position and gear, in units specified by the Reference and feedback units, velUnits parameter. Downshift velocities indicate the vehicle velocity at which the gear should decrease by 1.

The array dimensions are m pedal positions by n gears. The first column of data, when n equals 1, is the downshift velocity for the neutral gear.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	dwnShftTbl
Values:	[m-by-n] array
Data Types:	double

Dependencies

To create this parameter, set Shift type, shftType to Scheduled.

Time required to shift, tClutch — Time

.5 (default) | scalar

Time required to shift, t_Clutch, in s.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tClutch
Values:	.5 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Shift type, shftType to Scheduled.

Time required to engage reverse from neutral, tRev — Time

.5 (default) | scalar

Time required to engage reverse from neutral, t_Rev, in s.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tRev
Values:	.5 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Shift type, shftType to Scheduled.

Time required to engage park from neutral, tPark — Time

120 (default) | scalar

Time required to engage park from neutral, t_Park, in s.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tPark
Values:	120 (default) | scalar
Data Types:	double

Dependencies

To create this parameter, set Shift type, shftType to Scheduled.

References

[1] MacAdam, C. C. "An Optimal Preview Control for Linear Systems". Journal of Dynamic Systems, Measurement, and Control. Vol. 102, Number 3, Sept. 1980.

[2] MacAdam, C. C. "Application of an Optimal Preview Control for Simulation of Closed-Loop Automobile Driving ". IEEE Transactions on Systems, Man, and Cybernetics. Vol. 11, Issue 6, June 1981.

[3] MacAdam, C. C. Development of Driver/Vehicle Steering Interaction Models for Dynamic Analysis. Final Technical Report UMTRI-88-53. Ann Arbor, Michigan: The University of Michigan Transportation Research Institute, Dec. 1988.

[4] Hoffmann, Gabriel M., Claire J. Tomlin, Michael Montemerlo, and Sebastian Thrun. "Autonomous Automobile Trajectory Tracking for Off-Road Driving: Controller Design, Experimental Validation and Racing." American Control Conference. 2007, pp. 2296–2301. doi:10.1109/ACC.2007.4282788

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2018a