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

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xdot — Vehicle longitudinal velocity
scalar

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

Data Types: double

Output

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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.

Block diagram where the Bus Assignment block overrides the TransModeCmd output from the Sine With Dwell block.

Data Types: bus

Parameters

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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