Lane Change

Generate commands to conduct lane change maneuvers

Since R2024b

• 

Libraries:
Vehicle Dynamics Blockset / Vehicle Scenarios / Drive Cycle and Maneuvers

Description

The Lane Change block generates commands to conduct lane change maneuvers and adjusts the acceleration command according to the selected maneuver, after the vehicle reaches the target longitudinal velocity. Then, the block 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 specified track width.

Use the Lane change type, changeType parameter to select the desired lane change type.

Action	Lane Change Type Setting
Simulate a double-lane change. The block holds the acceleration constant.	Double lane change (ISO 3888-1)
Simulate a lane change with obstacle avoidance. The block commands zero-acceleration.	Obstacle avoidance (ISO 3888-2)
Simulate a lane change with obstacle avoidance for a truck-trailer. The block does not override the acceleration command.	Obstacle truck-trailer (SAE J2179)

You must set the initial longitudinal position of the vehicle in your model to a reasonable distance from the gate and specify these block parameters to ensure the vehicle reaches the target velocity before arriving at the gate:

• Inertial longitudinal position of gate entrance, XGate [m]

• Longitudinal entrance velocity setpoint, velRef

• Distance after target speed to begin reference, xStart [m]

Note

For information on the reference generator block used in the double-lane change reference application, see Reference Generator.

Ports

Input

xdot — Vehicle longitudinal velocity

scalar

Vehicle longitudinal velocity in the body fixed frame, specified as a scalar, in m/s.

Data Types: double

X — Longitudinal position vehicle center of mass

scalar

Longitudinal position of the vehicle center of mass in the global coordinate frame, specified as a scalar, in m.

Data Types: double

Y — Lateral position vehicle center of mass

scalar

Lateral position of the vehicle center of mass in the global coordinate frame, specified as a scalar, in m.

Data Types: double

psi — Vehicle yaw angle

scalar

Vehicle yaw angle with respect to the global coordinate system, specified as a scalar, in m.

Data Types: double

Output

DrvRef — Driver reference data

bus

Driver reference data, returned as a bus containing these block values.

Signal	Description	Units
LngRef	Longitudinal reference velocity	m/s
LtrRef	Lateral reference displacement	m
XRef	Vehicle global longitudinal reference position	m
YRef	Vehicle global lateral reference position	m
PhiRef	Vehicle global yaw reference position	rad
CurvRef	Reference path curvature	1/m
CurvGradRef	Reference path curvature gradient	1/m^2

Data Types: bus

DrvCmd — Driver command data

bus

Driver command data, returned as a bus containing these block values.

Signal		Description	Units
SteerCmd	EnblSteerCmd	Boolean signal used to override driver model steering commands	one
	SteerCmd	Handwheel angle	one
	SteerZero	Boolean signal used to override driver model steering commands with zero when value is true	one
	SteerHld	Boolean signal used to hold the current driver model steering output when true	one
AccelCmd	EnblAccelCmd	Boolean signal used to override driver model acceleration commands	one
	AccelCmd	Normalized accelerator input	one
	AccelHld	Boolean signal used to hold the current driver model acceleration output when true	one
	AccelZero	Boolean signal used to override driver model acceleration commands with zero when value is true	one
DecelCmd	EnblDecelCmd	Boolean signal used to override driver model deceleration commands	one
	DecelCmd	Normalized decelerator or brake input	one
	DecelHld	Boolean signal used to hold the current driver model deceleration output when true	one
	DecelZero	Boolean signal used to override driver model deceleration commands with zero when value is true	one
	HndBrkCmd	Normalized handbrake or park brake input	one
TransCmd	TransModeCmd	Command to specify the transmission mode	one
	GearCmd	Command to specify manual gear number or automatic transmission shifter position	one
	UpShiftCmd	Command to upshift	one
	DwnShiftCmd	Command to downshift	one
	ClutchCmd	Normalized clutch open command for manual transmissions	one

Note

By default, the TransCmd bus is not actively used. Use a Bus Assignment block to override the TransCmd bus to customize and extend the scenario.

Data Types: bus

Info — Information data

bus

Information data, returned as a bus containing these block values.

Signal	Description	Units
LeftBnd	Left lane boundary	m
RightBnd	Right lane boundary	m
LtrlRef	Lateral reference displacement	m
XRef	Vehicle global longitudinal reference position	m
YRef	Vehicle global lateral reference position	m

Dependencies

To enable this parameter, select Output info bus.

Data Types: bus

Parameters

To edit block parameters interactively, use the Property Inspector. From the Simulink^® Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Lane change type, changeType — Type of lane change to conduct

Double lane change (ISO 3888-1) (default) | Obstacle avoidance (ISO 3888-2) | Obstacle avoidance truck-trailer (SAE J2179)

Type of lane change to conduct [[1],[2],[3],[4]].

Use the Lane change type, changeType parameter to select the desired lane change type.

Action	Lane Change Type Setting
Simulate a double-lane change. The block holds the acceleration constant.	Double lane change (ISO 3888-1)
Simulate a lane change with obstacle avoidance. The block commands zero-acceleration.	Obstacle avoidance (ISO 3888-2)
Simulate a lane change with obstacle avoidance for a truck-trailer. The block does not override the acceleration command.	Obstacle truck-trailer (SAE J2179)

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:	changeType
Values:	Double lane change (ISO 3888-1) (default) | Obstacle avoidance (ISO 3888-2) | Obstacle avoidance truck-trailer (SAE J2179)
Data Types:	character vector

Maneuver start time, tStart [s] — Start time

3 (default) | positive scalar

Maneuver start time, 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:	tStart
Values:	3 (default) | positive scalar
Data Types:	double

Inertial longitudinal position of gate extrance, XGate [m] — Global longitudinal position of start of gate entry

176 (default) | scalar

Global longitudinal position of the start of the gate entry, in 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:	XGate
Values:	176 (default) | scalar
Data Types:	double

Longitudinal entrance velocity setpoint, velRef — Target velocity

35 (default) | positive scalar

Target velocity.

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:	velRef
Values:	35 (default) | positive scalar
Data Types:	double

Longitudinal entrance velocity setpoint units, velRefUnit [] — Units

mph (default)

Units for target velocity.

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:	velRefUnit
Values:	mph (default) | character vector
Data Types:	character vector

Distance after target speed to begin reference, xStart [m] — Longitudinal offset

2 (default) | scalar

Longitudinal offset from which to shift the nominal path, in 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:	xStart
Values:	2 (default) | scalar
Data Types:	double

Vehicle width, vehWidth [m] — Nominal vehicle width

2 (default) | positive scalar

Nominal vehicle width, in 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:	vehWidth
Values:	2 (default) | positive scalar
Data Types:	double

Lateral offset, nomLatOffset [m] — Nominal lateral offset

0 (default) | scalar

Nominal lateral offset, in 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:	nomLatOffset
Values:	0 (default) | scalar
Data Types:	double

Lateral reference position breakpoints, latRefbp [m] — Longitudinal path breakpoints

1-by-n vector (default)

Longitudinal path breakpoints that correspond to the lateral reference points latRef, specified as a 1-by-n vector, in m.

Dependencies

To enable this parameter, set Lane change type, changeType to one of these types:

• Double lane change (ISO 3888-1)

• Obstacle avoidance (ISO 3888-2)

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:	latRefbp
Values:	1-by-7 vector (default)
Data Types:	double

Lateral reference data, latRef [m] — Lateral path reference points

1-by-7 vector (default)

Lateral path reference points that correspond to the path longitudinal breakpoints latRefbp, specified as a 1-by-7 vector, in m.

Dependencies

To enable this parameter, set Lane change type, changeType to one of these types:

• Double lane change (ISO 3888-1)

• Obstacle avoidance (ISO 3888-2)

Dependencies

To enable this parameter, select Use reference data.

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:	latRef
Values:	1-by-7 vector (default)
Data Types:	double

Use reference data — Option to use reference data

on (default) | off

Select this parameter to use reference data.

Dependencies

To enable this parameter, set Lane change type, changeType to one of these types:

• Double lane change (ISO 3888-1)

• Obstacle avoidance (ISO 3888-2)

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

Stop simulation on course exit — Option to stop simulation on course exit

off (default) | on

Select this parameter to stop simulation on course exit.

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

Output info bus — Option to output info bus

off (default) | on

Select this parameter to output info bus.

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

Instantiate 3D cones (Simulation 3D Scene Configuration required) — Option to instantiate 3D cones

off (default) | on

Select this parameter to instantiate 3D cones. The Simulation 3D Scene Configuration block is required.

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:	use3DCones
Values:	off (default) | on
Data Types:	character vector

Show Maneuver Plot — Option to visualize maneuver

button

Click Show Maneuver Plot to visualize the maneuver specified by Lane change type, changeType.

References

[1] "Passenger cars — Test track for a severe lane-change manoeuvre." International Organization for Standardization. https://www.iso.org/standard/67973.html.

[2] "Passenger cars — Test track for a severe lane-change manoeuvre." International Organization for Standardization. https://www.iso.org/standard/57253.html.

[3] Trigell, Annika Stensson, et al. “Advanced Vehicle Dynamics of Heavy Trucks with the Perspective of Road Safety.” Vehicle System Dynamics, vol. 55, no. 10, Oct. 2017, pp. 1572–617. DOI.org (Crossref), https://doi.org/10.1080/00423114.2017.1319964.

[4] Fancher, P., and C. Winkler. “Directional Performance Issues in Evaluation and Design of Articulated Heavy Vehicles.” Vehicle System Dynamics, vol. 45, no. 7–8, July 2007, pp. 607–47. DOI.org (Crossref), https://doi.org/10.1080/00423110701422434.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using Simulink® Coder™.

To do an ERT build, after specifying System target file as ert.tlc, you must select the Dynamic memory allocation in MATLAB functions (Simulink) parameter in the Advanced parameters section of the Simulation Target pane.

Version History

Introduced in R2024b

R2025a: Additional lane change type

Starting in R2025a, you can simulate a test maneuver to evaluate the performance of obstacle avoidance for truck-trailers. To simulate this maneuver, set Lane change type, changeType to Obstacle avoidance truck-trailer (SAE J2179).