Datasets

Vehicle Parameters

Some of the driver controllers (Feedforward controllers, gear shift controller) need vehicle information. This information can be provided using datasets. If these controllers are not used, you do not need to populate this dataset. The graphical user interface automatically populates these datasets.


Figure 1.
Parameter Type Range Comments
Vehicle Mass Real Value>0  
Final drive ratio Real Value>0 Coupler ratio between drive coupler output and input shafts. Note that drive ratio is 3.7 in case of default RWD model and 1 in case of default FWD model. This value is not parameterized.
Transmission efficiency Real Value>0 Input omega/(output omega*Drive ratio).
Drive type Option Value = FWD or RWD Four wheel drive not allowed for advanced driver.
Max. powertrain torque Real Value > 0 Torque produced by the powertrain at the input shaft of the differential at 100% throttle.

*Required only for vehicle models without CSE powertrain. Driver can directly query CSE powertrain.

Min. Powertrain torque Real   Torque produced by the powertrain at the input shaft of the differential at 0% throttle.

*Required only for vehicle models without CSE powertrain. Driver can directly query CSE powertrain.
Maximum front braking torque Real Value>0 Maximum braking torque on front axle at 100.
Maximum rear braking torque Real Value>0 Maximum braking torque on rear axle.
Brake bias Real 0<Value<1 Front to Rear. 0 is 100% front, 1 is 100% rear.
Front wheel radius Real Value>0 Loaded radius
Rear wheel radius Real Value>0 Loaded radius
Front cornering stiffness Real Value>0  
Rear cornering stiffness Real Value>0  
Vehicle a Real Value>0 X component (Vehicle SAE system) of the distance from vehicle front axle to vehicle CG.
Vehicle b Real Value>0 (Wheel base - vehicle a)
Vehicle yaw inertia Real Value>0  
Steer ratio Real Value>0 Ratio of steering wheel input to tire motion (toe).

Analysis Settings

An Analysis settings dataset is required for user to give initial condition of the vehicle, simulation time and address of the Altair Driver file. This interface is a temporary data set and in the future these settings would go to Altair Driver file. The only thing that this data set would contain is the address of the Altair Driver file.
Parameter Type Range Comments
Altair Driver file File   Address of the file path

Signal Dimensions

A signal dimensions dataset is required to pass driver the information like Labels, ID, and dimensions of the end signals.


Figure 2.
Use Case:
$Example ADF end conditions block
(END_CONDITIONS)
 {SIGNAL      GROUP   ABS   OPERATOR   VALUE   TOLERANCE   WATCH_TIME}
  LONG_VEL      0      Y      SS        0.0      0.0001       1.50
  ROLL_ANGLE    1      Y      SS        0.0      0.0001       1.50
  PITCH_ANGLE   2      Y      SS        0.0      0.0001       1.50
  YAW_RATE      3      Y      SS        0.0      0.0001       1.50
  CG_Z          4      Y      SS        0.0      0.0001       1.50
$------------------------------------------------------------------------------------------------------------------

Using this block in ADF and signals dimension dataset, Driver will know the appropriate conversion factors for each and every value.

Control States

The scripted driver works on the CSE architecture. A graphical user interface for CSE architecture is not supported, therefore one has to change MDL statements in order to make any changes.
MDL Statements   
*GeneralStateEquation( gse_advanced_driver, "CSE Advanced Driver", 6, sa_u_advanced_driver, ,  )
gse_advanced_driver Variable name of the driver cse.
“CSE Advanced Driver” Label
6 Number of outputs.
sa_u_advanced_driver Solver array with input signals.
  Driver resizes the state array and sets initial conditions of the states internally. Hence, the state IC array should not be provided. 
  *SetGeneralStateEquation( gse_advanced_driver,        USER, `USER({sa_par0.idstring},1)` )
USER Indicates that Motionsolve should look outside its dll’s for the entry point.
USER({sa_par.idstring}) Function call with par[0] = Array ID with vehicle parameters 
  *SetContinuousStates( gse_advanced_driver,        1 )
1 The number of states are by default set to 1. 
 *SetLocalUserDLL( gse_advanced_driver,        "msautoutils" )
Msautoutils Looks for this dll first in the current directory and then in MotionSolve installation. 
*SetLocalUserFuncname( gse_advanced_driver,        "SCRIPT_DRIVER" )
SCRIPT_DRIVER Entry point function name.

Motions

Steering wheel motion Driver computes the required steering angle and applies motion to the steering wheel joint.
Front and rear wheel motion Required to lock the wheels during static simulation and lock the wheels.
Differential motion Required to lock the differential during static.

Solver Arrays

These solver arrays are parameterized to data sets or attachments. You do not need to fill/edit them.
Mass Info Array
0
Reserved
1
Mass of the vehicle
Brake Info Array
0
Reserved
1
Max front braking torque
2
Max rear braking torque
3
Brake bias
4
Reserved
5
Reserved
Tire Info Array
0
Reserved
1
Front wheel loaded radius
2
Rear wheel loaded radius
3
1 if FWD 2 if RWD
4
Reserved
5
Reserved
Drag Info Array
0
Reserved
1
Air density
2
Drag coefficient
3
Frontal area
4
Reserved
5
Reserved
Driver Info
0
Reserved
1
Altair Driver file path string ID
2
Solver array signals channel ID
3
Reserved
4
Reserved
Drive Train Info Array
0
Reserved
1
Final drive ratio
2
Transmission efficiency
3
Number of gears
4
Gear ratio 1
5
Gear ratio 2
6
Gear ratio 3
...
14
Gear ratio 10

*If gear index, i > Number of gears, N

Gear Ratio [i] = Gear Ratio[N]

Bicycle Model Info Array
0
Reserved
1
Front cornering stiffness
2
Rear cornering stiffness
3
Vehicle a
4
Vehicle b
5
Yaw inertia
6
Steer ratio
7
Reserved
8
Reserved
Vehicle Parameters Array
0
Reserved
1
Mass info array ID
2
Brake info array ID
3
Drivetrain info array ID
4
Drag info array ID
5
Tire info array ID
6
0
7
Bicycle model array ID
8
Driver info array ID
9
Reserved
10
Reserved
Input Signal Array
0
Time
1
Longitudinal displacement
2
Lateral displacement
3
Vehicle heading angle
4
Vehicle longitudinal velocity
5
Vehicle lateral velocity
6
Yaw rate
7
Vehicle longitudinal acceleration
8
Vehicle lateral acceleration
9
Engine speed
11
Distance travelled
Signal channel
12
Signal 0
13
Signal 1
14
Signal 2
15
Signal 3
16
Signal 4
Control Entity Array

List of motion ID’s and Joint ID’s passed to driver for deactivation after running static analysis
0
Reserved
1
Steering wheel motion ID
2
Front left wheel motion ID
3
Front right wheel motion ID
4
Rear left wheel motion ID
5
Rear right wheel motion ID
6
Differential motion ID
*Required only if there is NO cse powertrain
7
J Prim 1 ID
8
J Prim 2 ID
9
sv_steer_angle ID

Solver Variables

Steer Driver steer output

-ARYVAL ( {driver_output_array_id }, 1 )
Throttle Driver throttle output

ARYVAL ( {driver_output_array_id }, 2
Brake Driver brake output

ARYVAL ( {driver_output_array_id }, 3 )
Gear Driver gear output

ARYVAL ( {driver_output_array_id }, 4 )
Clutch Driver clutch output

ARYVAL ( {driver_output_array_id }, 5 )
Distance traveled by the vehicle DIF ( {diff_dis_travel.id} )
Longitudinal velocity wrt to gyro -VX ( <Gyro fixed marker> ,

<Ground body CM marker> ,

< Gyro fixed marker > )

Lateral velocity wrt gyro VY ( <Gyro fixed marker> ,

<Ground body CM marker> ,

< Gyro fixed marker > )
Yaw rate wrt gyro WZ ( <Gyro fixed marker> ,

<Ground body CM marker> ,

< Gyro fixed marker > )
Longitudinal acceleration wrt gyro -ACCX( <Gyro fixed marker> ,

<Ground body CM marker> ,

< Gyro fixed marker > )
Lateral acceleration wrt gyro -ACCY( <Gyro fixed marker> ,

<Ground body CM marker> ,

< Gyro fixed marker > )
Engine speed Engine speed attachment
Longitudinal displacement DX ( <Vehicle Body>)
Lateral displacement DY ( <Vehicle Body>)
Vehicle heading angle AZ ( <Vehicle Body>)
Simulation time TIME
Roll Angle AX(<Vehicle Body>)
Pitch Angle AY(<Vehicle Body>)
Roll Rate WX(<Vehicle Body>,

<Ground Body>,

<Vehicle Body>)
Pitch Rate WY(<Vehicle Body>,

<Ground Body>,

<Vehicle Body>)

Template

<ResOutput
          plt_file            = "TRUE"
  />
 PLT file is generated at the end of the simulation. 
<DebugOutput
         Switch_On   = "FALSE" 
         Stat_Anim   = "FALSE" 
/>
 Writes out states of each and every component in the model.

Default = ‘FALSE’

Slows down the simulation speed if switched on.

 
<UserProgramControl
     usrsub_param_string = "user(6454, {sys_tires.m_road_ref_frnt.l.id}, {advanced_driver.sa_deact_entities.id})"
     usrsub_dll_name     = "msautoutils"
     usrsub_fnc_name    = "RUN_DRIVER_EVENT"
  />
 CONSUB call to simulate transient and deactivate all the motions and joints after that.

Sensors

Maneuver switch Switch to end one maneuver and start next maneuver. Sensor uses a sensor subroutine to monitor the signals and end conditions associated with the signal to actuate the switch.