How to simulate the Slalom maneuver in A/Car

Hello

I want to simulate the Slalom maneuver (which means driving between the cones located with equal interval).

First, I tried to set up the Sine-Sweep Steer according to Slalom characteristics. I mean, to find correct values of steer frequency and steering angle to ensure model riding with proper lateral displacement (which more than a half of car width, obviously). But the path of the model (when you check it in a postprocessor) doesn't look like as desired to be (in a picture attached). There is an explanation for this issue, I know

So, Sine-Swept Steer maneuver doesn't meet the requirements.

I remember that one day I found a picture of the FVA staying on a road with cones (for slalom maneuver, I suppose). So, there must be a tool to build this road. But I didn't find anything looks like a cone in Obstacles menu in Road Builder.

If you know how to simulate the slalom maneuver, please, tell me about it.

Thank you in advance.

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0 Jesper Slattengren over 5 years ago

It all depends if you want an open or closed loop driving event.

For closed loop, use the File Driven Events. Look at the file:

mdids://acar_shared/driver_controls.tbl/iso_lane_change_dcf.xml

as an example.

This file will call

<acar_shared>/driver_data.tbl/iso_lane_change.dcd

for the driver path.

But using this method involve the dynamics of the driver.

If you use a open loop, the method to use is still File Driven Events.

But instead of a closed loop steering, you would want it to be Open, with Control Type = function.

You could use a function of the style

180d*sin(2*pi*time/2)*step(time,1.5,0,2.5,1)*step(time,7.5,1,8.5,0)

and tune the start and end times of the step functions to make it come out straight.
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0 Jesper Slattengren over 5 years ago

It all depends if you want an open or closed loop driving event.

For closed loop, use the File Driven Events. Look at the file:

mdids://acar_shared/driver_controls.tbl/iso_lane_change_dcf.xml

as an example.

This file will call

<acar_shared>/driver_data.tbl/iso_lane_change.dcd

for the driver path.

But using this method involve the dynamics of the driver.

If you use a open loop, the method to use is still File Driven Events.

But instead of a closed loop steering, you would want it to be Open, with Control Type = function.

You could use a function of the style

180d*sin(2*pi*time/2)*step(time,1.5,0,2.5,1)*step(time,7.5,1,8.5,0)

and tune the start and end times of the step functions to make it come out straight.
Cancel
Vote Up 0 Vote Down

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