Fishhook

Generate commands to conduct fishhook maneuver

Since R2024b

• 

Libraries:
Vehicle Dynamics Blockset / Vehicle Scenarios / Drive Cycle and Maneuvers

Description

The Fishhook block generates parametric steer and countersteer commands upon reaching the target longitudinal velocity. Note that either time or roll rate feedback can trigger the countersteer action, optimizing the severity of the countersteer. This procedure is valuable for assessing rollover propensity and is typically parameterized by conducting a Slowly Increasing Steer test initially to determine the steering amplitude.

Ports

Input

xdot — Vehicle longitudinal velocity

scalar

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

Data Types: double

p — Vehicle roll rate

scalar

Vehicle roll rate, specified as a scalar, in rad/s.

Dependencies

To enable this parameter, select Use roll rate to determine initial steer dwell time.

Data Types: double

Output

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	Transmission or drive mode command	one
	GearCmd	Command to specify manual gear or automatic transmission shifter position	one
	UpShiftCmd	Command to upshift	one
	DwnShiftCmd	Command to downshift	one
	ClutchCmd	Normalized clutch pedal 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.

Data Types: bus

Parameters

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 start time, tStart [s] — Start time

2 (default) | positive scalar

Maneuver start time, in s.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tStart
Values:	2 (default) | positive scalar
Data Types:	double

Longitudinal velocity setpoint, velRef — Target velocity

30 (default) | positive scalar

Target velocity.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	velRef
Values:	30 (default) | positive scalar
Data Types:	double

Longitudinal velocity setpoint units, velRefUnit [] — Units

mph (default)

Units for target velocity.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	velRefUnit
Values:	mph (default) | character vector
Data Types:	character vector

Steer and countersteer speed, steerRate [deg/s] — Steer and countersteer rate

720 (default) | positive scalar

Steer and countersteer rate, in deg/s.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	steerRate
Values:	720 (default) | positive scalar
Data Types:	double

Steer amplitude, steerAmp [deg] — Handwheel steer amplitude

540 (default) | positive scalar

Steer amplitude, in deg.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	steerAmp
Values:	540 (default) | positive scalar
Data Types:	double

Use roll rate to determine initial steer dwell time — Option to use roll rate to determine initial steer dwell time

off (default) | on

Select this parameter to use the roll rate to determine the initial steer dwell time.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	pFdbk
Values:	off (default) | on
Data Types:	character vector

Initial dwell time, tDwellSteer [s] — Initial dwell time

0.5 (default) | positive scalar

Dwell period the initial steer amplitude is held, specified as a positive scalar, in s.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tDwellSteer
Values:	0.5 (default) | positive scalar
Data Types:	double

Countersteer dwell time, tDwellCntrSteer [s] — Countersteer dwell time

3 (default) | positive scalar

Dwell period for which the countersteer amplitude is held.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tDwellCntrSteer
Values:	3 (default) | positive scalar
Data Types:	double

Return to center time, tZero [s] — Time to return countersteer amplitude to zero steer

2 (default) | positive scalar

Time to return the countersteer amplitude to zero steer, in s.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tZero
Values:	2 (default) | positive scalar
Data Types:	double

Roll rate countersteer initiation zero crossing threshold, pZero [deg/s] — Roll rate tolerance

1.5 (default) | positive scalar

Roll rate tolerance around zero from which to initiate the countersteer, in deg/s.

Dependencies

To enable this parameter, select Use roll rate to determine initial steer dwell time.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	pZero
Values:	1.5 (default) | positive scalar
Data Types:	double

Initial steer direction — Initial steer direction

Right (default) | Left

Set the initial steer direction as Right or Left.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	steerDir
Values:	Right (default) | Left
Data Types:	character vector

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2024b