Sine With Dwell

Generate single sinusoidal steering command

Since R2024b

• 

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

Description

The Sine With Dwell block generates a single sinusoidal steering command with a pause at the ¾ period time point for the specified duration once the target longitudinal velocity is reached, before returning to a neutral steer command. This behavior simulates a rapid steer-countersteer scenario, representing a driver's actions to avoid an obstacle and evaluates the electronic stability control system as per ISO 19365:2016. A driving robot typically performs this procedure due to the required handwheel speed and the test's need for repeatability.

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

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

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.

Maneuver Parameters

Maneuver start time, tStart [s] — Start time

2 (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:	2 (default) | positive scalar
Data Types:	double

Longitudinal velocity setpoint, velRef — Target velocity

50 (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:	50 (default) | positive scalar
Data Types:	double

Longitudinal 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

Steer frequency, steerFreq [Hz] — Handwheel frequency

0.7 (default) | positive scalar

Handwheel frequency that defines the sine wave form, in Hz.

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:	steerFreq
Values:	0.7 (default) | positive scalar
Data Types:	double

Steer amplitude, steerAmp [deg] — Handwheel steer amplitude

90 (default) | positive scalar

Steer amplitude, in 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:	steerAmp
Values:	90 (default) | positive scalar
Data Types:	double

Countersteer dwell time, tDwellCntrSteer [s] — Countersteer dwell time

0.5 (default) | positive scalar

Dwell period for which the countersteer amplitude is held.

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:	tDwellCntrSteer
Values:	0.5 (default) | positive scalar
Data Types:	double

Initial steer direction — Initial steer direction

Right (default) | Left

Set the initial steer direction as Right or Left.

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:	steerDir
Values:	Right (default) | Left
Data Types:	character vector

Extended Capabilities

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

Version History

Introduced in R2024b