LIBRARY

Examples.LaneChangeCarPlant

Kinematic bicycle model of a car for lane changes: lateral position y, speed v and heading psi (degrees), driven by the acceleration a and the steering angle delta (degrees). Unlike the DyadControlSystems lane-change tutorial, which treats v tan(delta) / L directly as a heading rate in degrees per second, the heading rate here is converted consistently to degrees.

Usage

MPCComponents.Examples.LaneChangeCarPlant(L=2.9, y0=0.0, v0=8.333333333333334, psi0=0.0, deg=57.29577951308232)

Parameters:

Name	Description	Units	Default value
L	Distance between the axles	–	2.9
y0		–	0.0
v0		–	8.333333333333334
psi0		–	0.0

Connectors

• a - This connector represents a real signal as an input to a component (RealInput)

• delta - This connector represents a real signal as an input to a component (RealInput)

• y_out - This connector represents a real signal as an output from a component (RealOutput)

• v_out - This connector represents a real signal as an output from a component (RealOutput)

• psi_out - This connector represents a real signal as an output from a component (RealOutput)

Variables

Name	Description	Units
y		–
v		–
psi		–

Behavior

Behavior of this component cannot be rendered because it includes path variables.

Source

"""
Kinematic bicycle model of a car for lane changes: lateral position `y`, speed `v` and heading `psi`
(degrees), driven by the acceleration `a` and the steering angle `delta` (degrees). Unlike the
DyadControlSystems lane-change tutorial, which treats `v tan(delta) / L` directly as a heading rate in
degrees per second, the heading rate here is converted consistently to degrees.
"""
component LaneChangeCarPlant
  "Acceleration"
  a = RealInput() {
    "Dyad": {"placement": {"diagram": {"x1": -100, "x2": 0, "y1": 240, "y2": 340}}}
  }
  "Steering angle (degrees)"
  delta = RealInput() {
    "Dyad": {"placement": {"diagram": {"x1": -100, "x2": 0, "y1": 680, "y2": 780}}}
  }
  "Lateral position"
  y_out = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 1000, "x2": 1100, "y1": 170, "y2": 270}}}
  }
  "Speed"
  v_out = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 1000, "x2": 1100, "y1": 450, "y2": 550}}}
  }
  "Heading (degrees)"
  psi_out = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 1000, "x2": 1100, "y1": 750, "y2": 850}}}
  }
  "Distance between the axles"
  parameter L::Real = 2.9
  parameter y0::Real = 0.0
  parameter v0::Real = 8.333333333333334
  parameter psi0::Real = 0.0
  "Degrees per radian"
  final parameter deg::Real = 57.29577951308232
  variable y::Real
  variable v::Real
  variable psi::Real
relations
  initial y = y0
  initial v = v0
  initial psi = psi0
  der(y) = v * sin(psi / deg)
  der(v) = a
  der(psi) = deg * v / L * tan(delta / deg)
  y_out = y
  v_out = v
  psi_out = psi
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MPCComponents/LaneChangeCarPlant.svg"},
    "doc": {"behavior": false}
  }
}
end

Flattened Source

"""
Kinematic bicycle model of a car for lane changes: lateral position `y`, speed `v` and heading `psi`
(degrees), driven by the acceleration `a` and the steering angle `delta` (degrees). Unlike the
DyadControlSystems lane-change tutorial, which treats `v tan(delta) / L` directly as a heading rate in
degrees per second, the heading rate here is converted consistently to degrees.
"""
component LaneChangeCarPlant
  "Acceleration"
  a = RealInput() {
    "Dyad": {"placement": {"diagram": {"x1": -100, "x2": 0, "y1": 240, "y2": 340}}}
  }
  "Steering angle (degrees)"
  delta = RealInput() {
    "Dyad": {"placement": {"diagram": {"x1": -100, "x2": 0, "y1": 680, "y2": 780}}}
  }
  "Lateral position"
  y_out = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 1000, "x2": 1100, "y1": 170, "y2": 270}}}
  }
  "Speed"
  v_out = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 1000, "x2": 1100, "y1": 450, "y2": 550}}}
  }
  "Heading (degrees)"
  psi_out = RealOutput() {
    "Dyad": {"placement": {"diagram": {"x1": 1000, "x2": 1100, "y1": 750, "y2": 850}}}
  }
  "Distance between the axles"
  parameter L::Real = 2.9
  parameter y0::Real = 0.0
  parameter v0::Real = 8.333333333333334
  parameter psi0::Real = 0.0
  "Degrees per radian"
  final parameter deg::Real = 57.29577951308232
  variable y::Real
  variable v::Real
  variable psi::Real
relations
  initial y = y0
  initial v = v0
  initial psi = psi0
  der(y) = v * sin(psi / deg)
  der(v) = a
  der(psi) = deg * v / L * tan(delta / deg)
  y_out = y
  v_out = v
  psi_out = psi
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MPCComponents/LaneChangeCarPlant.svg"},
    "doc": {"behavior": false}
  }
}
end

Test Cases

No test cases defined.

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