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Straight Maneuver Reference Generator

Generate straight maneuver reference signals

Description

The Straight Maneuver Reference Generator block generates accelerator and brake commands to conduct a straight line maneuver for the Braking Test. The acceleration begins at the specified rate until the vehicle achieves the longitudinal velocity setpoint. The vehicle controller maintains the longitudinal velocity setpoint for the specified time or distance. The controller then decelerates the vehicle.

Use the Maneuver Parameters to specify the maneuver start time, velocity setpoint, acceleration, and deceleration.

Optionally, on the Tracking Parameters tab, select Enable fault tracking before braking. Use the parameters to specify fault conditions before braking during a split-mu test. If the vehicle speed, steering angle, or yaw rate is not within the allowable range before braking, the block sets a fault condition. The default values represent compliance with ISO 145121.

Ports

Input

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

Output

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

Parameters

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Maneuver Parameters

Maneuver start time, in s.

Longitudinal acceleration at maneuver start, in g.

Longitudinal velocity reference, xdot_r, in units specified by Units of velocity, xdotUnit.

Units of velocity.

Method to start deceleration.

Select Longitudinal displacement to specify a displacement to start decelerating the vehicle.

Select Time to specify a time to start decelerating the vehicle.

Longitudinal displacement of vehicle CG to start deceleration, in m.

Dependency

To enable this parameter, set Brake pedal actuation to Longitudinal displacement.

Time to start deceleration, in s.

Dependency

To enable this parameter, set Brake pedal actuation to Time.

Longitudinal deceleration at braking time, in g.

Transport delay buffer size.

Set the handwheel angle to 0 after braking.

Tracking Parameters

Select this parameter to enable fault tracking before braking. Use the parameters to specify fault conditions before braking during a split-mu test. If the vehicle speed, steering angle, or yaw rate is not within the allowable range before braking, the block sets a fault condition. The default values represent compliance with ISO 145121.

The longitudinal velocity and mean longitudinal velocity tolerance. If the longitudinal velocity or mean longitudinal velocity exceeds the allowable range, the block sets a fault condition.

Dependencies

To enable this parameter, on the Tracking Parameters tab, select Enable fault tracking before braking.

The mean longitudinal velocity and longitudinal velocity reference tolerance. If the mean longitudinal velocity or longitudinal velocity exceeds the allowable range, the block sets a fault condition.

Dependencies

To enable this parameter, on the Tracking Parameters tab, select Enable fault tracking before braking.

The yaw velocity and mean yaw velocity tolerance, in deg/s. If the yaw velocity or mean yaw velocity exceeds the allowable range, the block sets a fault condition.

Dependencies

To enable this parameter, on the Tracking Parameters tab, select Enable fault tracking before braking.

Handwheel angle and mean handwheel angle, in deg. If the handwheel angle or mean handwheel angle exceeds the allowable range, the block sets a fault condition.

Dependencies

To enable this parameter, on the Tracking Parameters tab, select Enable fault tracking before braking.

Select this parameter to stop the simulation if a fault occurs.

Dependencies

To enable this parameter, on the Tracking Parameters tab, select Enable fault tracking before braking.

Introduced in R2021a