CarSim simulation quick start (16) - ADAS sensor objects of CarSim sensor simulation (2)

VS Command and calculation order VS Commands and the Sequence of Calculations

As mentioned earlier , The motion of moving objects can use built-in configurable functions SPEED_TARGET To get speed , And use LTARG To get the lateral position relative to the path . perhaps , Can use with VS Command to add import variables and / Or equations specify motion and position .

Calculation per time step Calculations made each time step

Every time step , The calculation sequence of the whole simulation test （ Related to moving objects ） as follows ：

1.    All state variables calculated from differential equations are known , Because they are calculated at the end of the last time step .

2.    All imported variables are from Simulink Wait for external software to get .

3.    Deal with all EQ_IN equation .

4.    Handle all built-in equations , To obtain all built-in outputs and derivatives of the vehicle model and all moving objects . Again , all EQ_DYN The equations are treated .

5.    Will handle all EQ_OUT Equations and EQ_DIFFERENTIAL equation .

6.    Copy all the output activated for export for export .

7.    Yes ODE Perform numerical integration to obtain the state variable of the next step .

Given this order , You should use EQ_IN Command to add any equation that directly affects the position variable , So that the new location takes effect before other calculations . On the other hand , You can combine the velocity equation with EQ_OUT or EQ_DIFFERENTIAL Add up , Because until the 6 Step before using speed . By waiting until the 5 Step , Can be used involving in the 4 The formula of the variable calculated in step .

Calculations performed during initialization Calculations made during initialization

start-up VS When the solver , Preparations for starting simulation （ Related to moving objects ） as follows :

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