Adding an extra propoerty/field in a predefined toolbox class

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Hello guys,

I'm trying to implement a different controller than what is being used in the driving.scenario.Vehicle. For that reason I need to access some variables/parameters that is not considered in the standard form of a specific class predefined in the toolbox of Matlab (driving.scenario.Vehicle).

For example in the Automated Driving Toolbox, I can create the following object:

%% Create scenario, add road and leader vehicle
s = drivingScenario;
vLeader = vehicle(s);

and the values for this VLeader variable would it be those in the picture below. I want to add an extra property called Acceleration to retrieve it's respective value and then be able to implement my controller.

Best regards

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Tiago Rocha Goncalves 2020-8-20

Work around:

I managed by using some of the available free spots of the (1,3) velocity vector axis (x,y,z). In my case, I was just using one component (x) so I managed to pass the acceleration at each time step through the (z) component of the velocity. However, I had to change some other parts in order to not mess up with the velocity calculation.

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Answer 1

Jalaj Gambhir 2020-8-24

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Hi,

As mentioned in the link, you will have to define waypoints and have different velocities at each waypoint as a workaround to define acceleration of the vehicle.

Hope this helps!

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Tiago Rocha Goncalves 2020-8-24

Hello,

Thanks for your help. I'm not sure this would help in my case, as I wanted to implement a specific controller (slide mode control) for a platoon of vehicles scenario. In that case, the acceleration is needed at each time step. More precisely, I was adapating the following function FollowerSpacingControl.m to change the simpler PD controller to the one mentioned above. It worked out with the aforementioned work round in my comment.

Thanks a lot again.

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Adding an extra propoerty/field in a predefined toolbox class

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