Fishhook
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 |
---|---|---|
| Longitudinal reference velocity | m/s |
| Lateral reference displacement | m |
| Vehicle global longitudinal reference position | m |
| Vehicle global lateral reference position | m |
| Vehicle global yaw reference position | rad |
| Reference path curvature | 1/m |
| 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 | |
---|---|---|---|
|
| Boolean signal used to override driver model steering commands | one |
| Handwheel angle | one | |
| Boolean signal used to override driver model steering commands
with zero when value is | one | |
| Boolean signal used to hold the current driver model steering
output when | one | |
|
| Boolean signal used to override driver model acceleration commands | one |
| Normalized accelerator input | one | |
| Boolean signal used to hold the current driver model acceleration
output when | one | |
| Boolean signal used to override driver model acceleration
commands with zero when value is | one | |
|
| Boolean signal used to override driver model deceleration commands | one |
| Normalized decelerator or brake input | one | |
| Boolean signal used to hold the current driver model deceleration
output when | one | |
| Boolean signal used to override driver model deceleration
commands with zero when value is | one | |
| Normalized handbrake or park brake input | one | |
|
| Transmission or drive mode command | one |
| Command to specify manual gear or automatic transmission shifter position | one | |
| Command to upshift | one | |
| Command to downshift | one | |
| 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
Longitudinal velocity setpoint, velRef — Target velocity
30
(default) | positive scalar
Longitudinal velocity setpoint units, velRefUnit [] — Units
mph
(default)
Steer and countersteer speed, steerRate [deg/s] — Steer and countersteer rate
720
(default) | positive scalar
Steer amplitude, steerAmp [deg] — Handwheel steer amplitude
540
(default) | positive scalar
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
See Also
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