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Mapped Steering

Mapped steering with speed-dependent option

  • Library:
  • Vehicle Dynamics Blockset / Steering

  • Mapped Steering block

Description

The Mapped Steering block implements lookup tables to calculate the right and left wheel angles. Use the Speed dependent parameter to implement a speed-dependent table for the angle calculations. The block uses the vehicle coordinate system.

Speed DependentImplementationCalculations
on (default)

Block uses three tables:

  • fs — Function of vehicle speed

  • fL — Function of superimposed steering wheel angle

  • fR — Function of superimposed steering wheel angle

δSpdF=fs(v)δSuprImp=δSpdFδinδL=fL(δSuprImp)δR=fR(δSuprImp)

off

Block uses two tables:

  • fL — Function of steering wheel angle

  • fR — Function of steering wheel angle

δL=fL(δin)δR=fR(δin)

The equations use these variables.

δin

Steering wheel angle

δSpdF

Steering wheel angle speed factor

δSuprImp

Superimposed steering wheel angle

δL, δR

Left and right wheel angles, respectively

Ports

Input

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Steering angle, δin, in rad.

Vehicle speed, Vehspd, in m/s.

Dependencies

To enable this port, select Speed dependent.

Output

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Bus signal containing these block calculations.

SignalDescriptionVariableUnit

AngLft

Left wheel angle

δL

rad

AngRght

Left wheel angle

δR

rad

Left wheel angle, δL, in rad.

Right wheel angle, δR, in rad.

Parameters

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Steering angle breakpoints, in rad.

Left wheel angle table, δL, in rad.

Right wheel angle table, δR, in rad.

Vehicle speed breakpoints, in m/s.

Dependencies

To create this parameter, select Speed dependent.

Superimposed speed factor table, ƒs, dimensionless. The table is a factor of vehicle speed, v.

Dependencies

To create this parameter, select Speed dependent.

References

[1] Crolla, David, David Foster, et al. Encyclopedia of Automotive Engineering. Volume 4, Part 5 (Chassis Systems) and Part 6 (Electrical and Electronic Systems). Chichester, West Sussex, United Kingdom: John Wiley & Sons Ltd, 2015.

[2] Gillespie, Thomas. Fundamentals of Vehicle Dynamics. Warrendale, PA: Society of Automotive Engineers, 1992.

[3] Vehicle Dynamics Standards Committee. Vehicle Dynamics Terminology. SAE J670. Warrendale, PA: Society of Automotive Engineers, 2008.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Introduced in R2018a