CarSim simulation quick start (XI) - Driver Model (1)

CarSim and TruckSim Including all the controls normally provided by the driver ： to turn to , braking , throttle , Transmission and clutch control . Each control has open-loop and closed-loop operation options . These controls can be directly provided as open-loop controls , It can be imported from external software .

VS Math Models It aims to provide simulation of physical vehicles in response to driver control . It also includes providing steering , Closed loop controller for braking and other functions . These closed-loop controllers are usually used to simulate the typical behavior of drivers when following a given path at a given speed or at a speed determined by basic rules . Proper steering , throttle , braking , shift , And possible clutch control .

The closed-loop controller uses configurable functions to define the path and speed targets . The target speed and lateral offset configurable functions used by the driver model （ Respectively SPEED_TARGET and LTARG） It can also be used to control the motion of moving objects , To simulate traffic vehicles and ADAS Other targets of the sensor .

Open loop control

VS Open loop controls defined in the mathematical model are not subject to VS The effect of any controller built into the solver . however , These control variables can be replaced by Simulink And the value in the closed-loop controller of external software , It can also be replaced by runtime processing VS command . The driving simulator can also be used to measure the control variables （ to turn to , Throttle, etc ） And replace it with the driver's value , And take these variables as VS Provide to VS mathematical model .

When using the built-in speed controller , The open-loop throttle and brake controls will remain active , To support the simulation of advanced safety systems that interfere with driver control . therefore , If you create a process of switching from open-loop mode to closed-loop mode during operation （ Use VS Orders and events ）, You may need to set the open loop control to zero , To prevent unnecessary interaction .

Configuration function

VS Each open-loop control in the solver has configurable functions , It can be set to use one of many calculation methods . for example , chart 1 The library interface for open-loop steering wheel angle control is displayed . under these circumstances , Function type is set to Linear i