Simulation model: Maneuver

Simulation model : Maneuver

Author

Description

  • Driver model
  • Behavior model

Update

  • [18/05/31] - Initial release - kyunghan
class py_sim.model_maneuver.Mod_Behavior(Driver)[source]

Bases: object

Module description here

ConfigVariables:
  • conf_rw_wheel
  • conf_jw_body
  • conf_brk_coef
  • conf_acc_coef
  • conf_veh_len
  • …
Submodules:
  • Body_config:
  • Dyn_config:
  • Lon_driven_in:
  • …
Operation:

Description operation here:

!!!Make operation diagram here!!!
# Module_name(in//out)
Motor_control(t_mot, w_mot // des_torque)
    >> Motor_driven(t_mot, w_mot // v_mot)
        >> Motor_elec_dynamics, Motor_mech_dynamics, Drive_shaft_dynamics
    >> Motor_torque_system(v_mot // des_torque)
Drver_set(DriverSet)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Dynamic_state_recog(pre_veh_speed, pre_veh_reldis=250)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Lat_behavior(veh_position_x, veh_position_y, veh_ang, road_x, road_y)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Lat_control(lane_offset, angle_dif, offset_des=0, angle_diff_des=0)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Lateral_state_recog(veh_position_x, veh_position_y, veh_ang, road_x, road_y)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Lon_behavior(static_obj_in, veh_position_s, road_len, veh_speed, pre_veh_speed='None', pre_veh_reldis=250)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Lon_control(veh_vel_set, veh_vel)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Lon_vel_set(stStatic, stDynamic)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Maneuver_config(cruise_speed_set=15, mincv_speed_set=5, curve_coef=1500, transition_dis=20, forecast_dis=100, cf_dis=120, lat_off=0.5)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Static_state_recog(static_obj_in, veh_position_s, road_len)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
class py_sim.model_maneuver.Mod_Driver[source]

Bases: object

Module description here

ConfigVariables:
  • conf_rw_wheel
  • conf_jw_body
  • conf_brk_coef
  • conf_acc_coef
  • conf_veh_len
  • …
Submodules:
  • Body_config:
  • Dyn_config:
  • Lon_driven_in:
  • …
Operation:

Description operation here:

!!!Make operation diagram here!!!
# Module_name(in//out)
Motor_control(t_mot, w_mot // des_torque)
    >> Motor_driven(t_mot, w_mot // v_mot)
        >> Motor_elec_dynamics, Motor_mech_dynamics, Drive_shaft_dynamics
    >> Motor_torque_system(v_mot // des_torque)
set_char(DriverChar='Normal')[source]
set_driver_param(P_gain_lon=0.5, I_gain_lon=0.1, D_gain_lon=0, P_gain_lat=1, I_gain_lat=1, D_gain_lat=0, P_gain_yaw=1, I_gain_yaw=1, D_gain_yaw=0, shift_time=1.5, max_acc=4)[source]
py_sim.model_maneuver.Ts = 0.01

global vairable: simulation sampling timeself.

you can declare other sampling time in application as vairable Ts