Driver Commands

Configure driver

Description

The Driver Commands block implements the driver model that the reference application uses to generate acceleration, braking, gear, and steering commands. By default, if you select the Reference Generator block parameter Use maneuver-specific driver, initial position, and scene, the reference application selects the driver for the maneuver that you specified.

Vehicle Command Mode Setting	Implementation
Longitudinal Driver	Longitudinal Driver block — Longitudinal speed-tracking controller. Based on reference and feedback velocities, the block generates normalized acceleration and braking commands that can vary from 0 through 1. Use the block to model the dynamic response of a driver or to generate the commands necessary to track a longitudinal drive cycle.
Predictive Driver (default)	Predictive Driver block — Controller that generates normalized steering, acceleration, and braking commands to track longitudinal velocity and a lateral reference displacement. The normalized commands can vary between -1 to 1. The controller uses a single-track (bicycle) model for optimal single-point preview control.
Open Loop	Implements an open-loop system so that you can configure the reference application for constant or signal-based steering, acceleration, braking, and gear command input.

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

VehRef — Vehicle reference signals

Bus

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

VehFdbk — Vehicle feedback signals

Bus

Bus containing vehicle displacement feedback signals.

Steer — Steer angle

scalar

Steer angle, specified as a scalar.

Dependencies

To enable this port, set Vehicle command mode to Open Loop.

Accel — Vehicle acceleration

scalar

Vehicle acceleration, specified as a scalar.

Dependencies

To enable this port, set Vehicle command mode to Open Loop.

Brake — Vehicle deceleration

scalar

Vehicle deceleration, specified as a scalar.

Dependencies

To enable this port, set Vehicle command mode to Open Loop.

Gear — Vehicle gear

scalar

Vehicle gear, specified as a scalar.

Dependencies

To enable this port, set Vehicle command mode to Open Loop.

Output

Driver — Command signals

Bus

Bus containing these steering, acceleration, braking, and gear commands.

Signal	Description
SteerCmd	Commanded steer angle.
AccelCmd	Commanded vehicle acceleration.
DecelCmd	Commanded vehicle deceleration.
GearCmd	Commanded vehicle gear.

Parameters

Vehicle command mode — Enable 3D visualization

Predictive Driver (default) | Longitudinal Driver | Open Loop

Specify driver model.

Version History

Introduced in R2019a