Lateral Driver

Lateral path-tracking controller

Libraries:
Vehicle Dynamics Blockset / Vehicle Scenarios / Driver

Description

The Lateral Driver block implements a control model to generate normalized steering commands that track a lateral reference displacement. The normalized steering commands can vary between -1 to 1. To model the dynamics, the block uses a linear single track (bicycle) model. Use the Lateral Driver block to:

Close the loop between a predefined path and actual vehicle motion.
Generate steering commands that track predefined paths. You can connect the Lateral Driver block output to steering block inputs.

Configurations

External Actions

Use the External Actions parameters to create input ports for signals that can disable, hold, or override the closed-loop steering command. The block uses this priority order for the input commands: disable (highest), hold, override. 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 steering command with an input steering command.	Steering override	`EnblSteerOvr`	`Boolean`
	Steering override	`SteerOvrCmd`	`double`
Hold the steering command at the current value.	Steering hold	`SteerHld`	`Boolean`
Disable the steering command.	Steering disable	`SteerZero`	`Boolean`

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

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

Also, you can specify a tire wheel angle saturation limit using the Tire wheel angle limit, theta parameter.

Control Type and Units

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. 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.

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.

Use the Angular units, angUnits parameter to specify the angular units for the input and output ports.

Controller: Predictive Lateral Path-Tracking

If you set Lateral control type, controlTypeLat to Predictive, the Lateral Driver 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

This figure illustrates the block implementation of the single-point version of the driver model.

Block diagram illustrating implementation of single-point driver model

Vehicle Dynamics

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

$\begin{array}{l} \dot{y} = v + U ψ \\ \dot{v} = [- \frac{2 (C_{α F} + C_{α R})}{m U}] v + [\frac{2 (b C_{α R} - a C_{α F})}{m U} - U] r + (\frac{2 C_{α F}}{m}) δ_{F} \\ \dot{r} = [\frac{2 (b C_{α R} - a C_{α F})}{I U}] v + [- \frac{2 (a^{2} C_{α F} + b^{2} C_{α R})}{I U}] r + (\frac{2 a C_{α F}}{I}) δ_{F} \\ \dot{ψ} = r \end{array}$

In matrix notation:

$\begin{array}{l} \dot{x} = F x + g δ_{F} \\ where: \\ x = [\begin{array}{l} y \\ v \\ r \\ ψ \end{array}] \\ F = [\begin{matrix} 0 & 1 & 0 & U \\ 0 & -2 \frac{C_{α F} + C_{α R}}{m U} & 2 \frac{b C_{α R} - a C_{α F}}{m U} - U & 0 \\ 0 & 2 \frac{b C_{α R} - a C_{α F}}{I U} & -2 \frac{a^{2} C_{α F} + b^{2} C_{α R}}{I U} & 0 \\ 0 & 0 & 1 & 0 \end{matrix}] \\ x = [\begin{array}{l} 0 \\ \frac{2 C_{α F}}{m} \\ \frac{2 a C_{α F}}{I} \\ 0 \end{array}] \end{array}$

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.

$\begin{array}{l} a * = T * m^{T} [I + \sum_{n = 1}^{\infty} \frac{F^{n} {(T *)}^{n}}{(n + 1)!}] g \\ b * = m^{T} [I + \sum_{n = 1}^{\infty} \frac{F^{n} {(T *)}^{n}}{n!}] \\ where: \\ m^{T} = [\begin{matrix} 1 & 0 & 0 & 0 \end{matrix}] \end{array}$

The equations use these variables.

a, b	Forward and rearward tire location, respectively
m	Vehicle mass
I	Vehicle rotational inertia
C_ɑF	Front tire cornering coefficient
C_ɑR	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, δ_F	Steer angle and front axle steer angle, respectively
g	Control coefficient vector
U	Forward (longitudinal) vehicle velocity
T*	Preview time window
ƒ(t+T)*	Previewed path input T* seconds ahead
U	Forward vehicle velocity
*m^T*	Constant observer vector; provides vehicle lateral position

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).

$J = \frac{1}{T} \int_{t}^{t + T} {[f (η) - y (η)]}^{2} d η$

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

$\frac{d J}{d u} = 0$

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), u^o(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.

$H (s) = e^{- s τ}$

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), u^o(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

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LongRef — Longitudinal displacement reference
`scalar`

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

Dependencies

To enable this port:

Set Lateral control type, controlTypeLat to Stanley
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 either of these:

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

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 steer angle, normalized from -1 through 1. The block uses the tire wheel angle saturation limit Tire wheel angle limit, theta parameter to normalize the command.	`SteerCmd` — Output
`off` (default)	Overrides the steering command with an input steering command normalized from -1 through 1.	`SteerOvrCmd` — Input
`on`	Commanded steer angle, in units specified by Angular units, angUnits.	`SteerCmd` — Output
`on`	Overrides the steering command with an 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

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

RefPose — Reference pose
[x, y, Θ] vector

Reference pose, specified as an [x, y, Θ] vector. x and y are in meters, and Θ are in units specified by Angular units, angUnits.

x and y specify the reference point to steer the vehicle toward. Θ specifies the orientation angle of the path at this reference point and is positive in the counterclockwise 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.

Figure indicating location of x, y, and theta on vehicle path

Dependencies

To enable this port, set Lateral control type, controlTypeLat to Stanley and select Vector input for poses.

Data Types: single | double

VelFdbk — Longitudinal vehicle velocity
`scalar`

Longitudinal vehicle velocity, U, in the vehicle-fixed frame, in m/s.

CurrPose — Current pose
[x, y, Θ] vector

Current pose of the vehicle, specified as an [x, y, Θ] vector. x and y are in meters, and Θ is in units specified by Angular units, angUnits.

x and y specify the location of the vehicle, which is defined as 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.

Figure indicating location of x, y, and theta on vehicle path

Dependencies

To enable this port, set Lateral control type, controlTypeLat to Stanley and 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

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Info — Bus signal
bus

Bus signal containing these block calculations.

Signal		Variable	Description
`Predicted`	`y`	y	Predicted lateral displacement, in the vehicle-fixed frame.
	`ydot`	v	Predicted lateral velocity, in the vehicle-fixed frame.
	`psi`	Ψ	Predicted front wheel heading angle.
	`r`	r	Predicted yaw rate, in the vehicle-fixed frame.
`SteerCmd`		δ_F	Commanded steer angle.
`Err`		e_ref	Difference in reference vehicle position and vehicle position.
`ErrSqrSum`		$\int_{0}^{t} e_{r e f}^{2} d t$	Integrated square of error.
`ErrMax`		$\max (e_{r e f} (t))$	Maximum error during simulation.
`ErrMin`		$\min (e_{r e f} (t))$	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

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 steer angle, normalized from -1 through 1. The block uses the tire wheel angle saturation limit Tire wheel angle limit, theta parameter to normalize the command.	`SteerCmd` — Output
`off` (default)	Overrides the steering command with an input steering command normalized from -1 through 1.	`SteerOvrCmd` — Input
`on`	Commanded steer angle, in units specified by Angular units, angUnits.	`SteerCmd` — Output
`on`	Overrides the steering command with an input steering command, in units specified by Angular units, angUnits.	`SteerOvrCmd` — Input

Parameters

expand all

Configuration

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.

Steering hold — Hold steering command
`off` (default) | `on`

Select to hold the steering command.

Dependencies

Selecting this parameter creates the SteerHld input port.

Steering disable — Disable steering command
`off` (default) | `on`

Select to disable the steering command.

Dependencies

Selecting this parameter creates the SteerZero input port.

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 steer angle, normalized from -1 through 1. The block uses the tire wheel angle saturation limit Tire wheel angle limit, theta parameter to normalize the command.	`SteerCmd` — Output
`off` (default)	Overrides the steering command with an input steering command normalized from -1 through 1.	`SteerOvrCmd` — Input
`on`	Commanded steer angle, in units specified by Angular units, angUnits.	`SteerCmd` — Output
`on`	Overrides the steering command with an input steering command, in units specified by Angular units, angUnits.	`SteerOvrCmd` — Input

Dependencies

To create the SteerOvrCmd input port, select Steering override.

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)

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.

Angular units, angUnits — Input and output port angular units
`rad` (default) | `deg`

Input and output port angular units.

Reference Control

Predictive

Driver response time, tau — Response time
`0.1` (default) | `scalar`

Driver response time, τ, in s.

Dependencies

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

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 Lateral control type, controlTypeLat 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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

Tire wheel angle limit, theta — Angle limit
`45*pi/180` (default) | `scalar`

Tire wheel angle limit, θ, in rad.

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

Lateral Driver

Description

Configurations

Controller: Predictive Lateral Path-Tracking

Controller: Stanley Lateral Path-Tracking

Examples

Double Lane Change Reference Application

Ports

Input

LongRef — Longitudinal displacement reference scalar

Dependencies

LatRef — Lateral displacement reference scalar

Dependencies

EnblSteerOvr — Enable steering command override scalar

Dependencies

SteerOvrCmd — Steering override command scalar

Dependencies

SteerHld — Steering hold scalar

Dependencies

SteerZero — Disable steering command scalar

Dependencies

YawRef — Yaw angle reference scalar

Dependencies

RefPose — Reference pose [x, y, Θ] vector

Dependencies

VelFdbk — Longitudinal vehicle velocity scalar

CurrPose — Current pose [x, y, Θ] vector

Dependencies

LatFdbk — Lateral displacement scalar

Dependencies

LatVelFdbk — Lateral vehicle velocity scalar

Dependencies

YawFdbk — Vehicle yaw angle scalar

Dependencies

YawVelFdbk — Yaw rate scalar

Dependencies

Output

Info — Bus signal bus

SteerCmd — Steer angle command scalar

Parameters

Configuration

Steering override — Override steering command off (default) | on

Dependencies

Steering hold — Hold steering command off (default) | on

Dependencies

Steering disable — Disable steering command off (default) | on

Dependencies

Output handwheel angle — Steering port units in rad off (default) | on

Dependencies

Lateral control type, controlTypeLat — Controller Predictive (default) | Stanley

Angular units, angUnits — Input and output port angular units rad (default) | deg

Reference Control

Driver response time, tau — Response time 0.1 (default) | scalar

Dependencies

Preview distance, L — Distance 3 (default) | scalar

Dependencies

Vector input for poses — Select to create RefPose and CurrPose input ports off (default) | on

Dependencies

Include dynamics — Select to include dynamics off (default) | on

Dependencies

Position gain of forward motion, PositionGainF — Position gain of vehicle in forward motion 2.5 (default) | positive real scalar

Dependencies

Position gain of reverse motion, PositionGainR — Position gain of vehicle in reverse motion 2.5 (default) | positive real scalar

Dependencies

Yaw rate feedback gain, YawRateGain — Yaw rate feedback gain .2 (default) | nonnegative real scalar

Dependencies

Steering angle feedback gain, DelayGain — Steering angle feedback gain .2 (default) | nonnegative real scalar

Dependencies

Forward location of tire, a — Along vehicle longitudinal axis 1.41 (default) | scalar

Rearward location of tire, b — Along vehicle longitudinal axis 1.41 (default) | scalar

Vehicle mass, m — Mass 2016 (default) | scalar

Dependencies

Front tire cornering coefficient, Cy_f — Coefficient 25266 (default) | scalar

Dependencies

Rear tire cornering coefficient, Cy_r — Coefficient 70933 (default) | scalar

Dependencies

Vehicle rotational inertia, I — Inertia about yaw axis 4013 (default) | scalar

Dependencies

Nominal steering ratio, Ksteer — Steering ratio 18 (default) | scalar

Dependencies

LongRef — Longitudinal displacement reference
`scalar`

LatRef — Lateral displacement reference
`scalar`

EnblSteerOvr — Enable steering command override
`scalar`

SteerOvrCmd — Steering override command
`scalar`

SteerHld — Steering hold
`scalar`

SteerZero — Disable steering command
`scalar`

YawRef — Yaw angle reference
`scalar`

RefPose — Reference pose
[x, y, Θ] vector

VelFdbk — Longitudinal vehicle velocity
`scalar`

CurrPose — Current pose
[x, y, Θ] vector

LatFdbk — Lateral displacement
`scalar`

LatVelFdbk — Lateral vehicle velocity
`scalar`

YawFdbk — Vehicle yaw angle
`scalar`

YawVelFdbk — Yaw rate
`scalar`

Info — Bus signal
bus

SteerCmd — Steer angle command
`scalar`

Steering override — Override steering command
`off` (default) | `on`

Steering hold — Hold steering command
`off` (default) | `on`

Steering disable — Disable steering command
`off` (default) | `on`

Output handwheel angle — Steering port units in rad
`off` (default) | `on`

Lateral control type, controlTypeLat — Controller
`Predictive` (default) | `Stanley`

Angular units, angUnits — Input and output port angular units
`rad` (default) | `deg`

Driver response time, tau — Response time
`0.1` (default) | `scalar`

Preview distance, L — Distance
`3` (default) | `scalar`

Vector input for poses — Select to create `RefPose` and `CurrPose` input ports
`off` (default) | `on`

Include dynamics — Select to include dynamics
`off` (default) | `on`

Position gain of forward motion, PositionGainF — Position gain of vehicle in forward motion
`2.5` (default) | positive real scalar

Position gain of reverse motion, PositionGainR — Position gain of vehicle in reverse motion
`2.5` (default) | positive real scalar

Yaw rate feedback gain, YawRateGain — Yaw rate feedback gain
`.2` (default) | nonnegative real scalar

Steering angle feedback gain, DelayGain — Steering angle feedback gain
`.2` (default) | nonnegative real scalar

Forward location of tire, a — Along vehicle longitudinal axis
`1.41` (default) | `scalar`

Rearward location of tire, b — Along vehicle longitudinal axis
`1.41` (default) | `scalar`

Vehicle mass, m — Mass
`2016` (default) | `scalar`

Front tire cornering coefficient, Cy_f — Coefficient
`25266` (default) | `scalar`

Rear tire cornering coefficient, Cy_r — Coefficient
`70933` (default) | `scalar`

Vehicle rotational inertia, I — Inertia about yaw axis
`4013` (default) | `scalar`

Nominal steering ratio, Ksteer — Steering ratio
`18` (default) | `scalar`

Tire wheel angle limit, theta — Angle limit
`45*pi/180` (default) | `scalar`

C/C++ Code Generation
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