MV-8002: Multi-Maneuver Events

In this tutorial, you will learn how to define end conditions for a maneuver or a sub-event, write parametric expressions, and to define events as multiple sub-events executed sequentially

End conditions
Conditions to end a particular maneuver before given simulation end time
Examples of the end conditions can be – End maneuver when longitudinal velocity is greater than 10 m/s or when roll angle reaches steady state
End conditions can be logically coupled (OR-ed or AND-ed) by splitting them into groups
Multi-maneuver events
Events consisting for more than one maneuver – these maneuvers are executed sequentially
Controllers can only be changed while switching the maneuvers
Hence, rule of thumb – whenever need to change the controller, change the maneuver
Driver does following while switching the maneuvers
  • Halts previous maneuver
  • Saves the signals value that acts as initial value for next maneuver in case of parametric expressions , there is a list of signals that driver monitors. Please refer to the documentation for more details.
  • Executes the change of/in controller
  • Starts new maneuver
Examples: Fishhook, J-turn, Throttle off cornering analysis
Parametric Expressions
When in a multi-maneuver event, expressions need to be re-evaluated before the start of the maneuver in order to maintain the continuity of the signals.
{ Expression in Curly Braces }
Instruction to driver to evaluate the expression before giving it to MotionSolve
{SIGNAL}
Evaluated as VARVAL(signal solver variable id)
{SIGNAL_0}
Evaluated as Signal Value at the end of last maneuver
{%SIGNAL}
Evaluated as {SIGNAL} – {SIGNAL_0}
Driver evaluates the expressions for the maneuver before the start of the maneuver

Example:

Throttle off cornering event
Maneuver 1
Constant radius cornering, constant radius path with constant velocity - until roll angle reaches its maximum and stabilizes.
Maneuver 2
Step down the throttle while following the same path.

In this event, Maneuver 1 would typically consist of closed loop steering and throttle controllers. In Maneuver 2, the steering controller still remains the same, however the throttle controller is open loop, type expression – ‘STEP(TIME – end time of maneuver 1 , 0, throttle value at the end of maneuver 1, 0.5, 0)’.

Figure 1.

Assemble the Vehicle

Follow the instructions in Step #1 of MV-8000 to create the vehicle with the topology as provided below.
Page Label Selection Default (Yes/No)
1 Model type Full vehicle with advanced driver No
2 Driveline configuration Front wheel drive Yes
3 Vehicle body Body Yes
3 Front suspension Frnt macpherson susp (1 pc. LCA) Yes
3 Steering linkages Rackpin steering Yes
3 Rear subframe None Yes
3 Rear suspension Rear quadlink susp Yes
3 Powertrain Linear torque map powertrain Yes
3 Signal generator Driver signal generator Yes
3 Tires FIALA Yes
4 Steering column Steering column 1 (not for Abaqus) Yes
4 Steering boost None Yes
5 Front struts Frnt strut (with inline jts) Yes
5 Front stabilizer bars Frnt stabar with links No
5 Rear struts Rear strut (with inline jts) Yes
5 Rear stabilizer bars Rear stabar with links No
6 Front jounce bumpers None Yes
6 Front rebound bumpers None Yes
6 Rear jounce bumpers None Yes
6 Rear rebound bumpers None Yes
7 Disk brakes Disk brakes Yes
7 Front driveline Independent fwd Yes
8   Next No
9   Finish No

Adding Driver Analysis

Use the Task Wizard to load the driver analysis.
Figure 2.

Specify Vehicle Parameters

In this step, you will specify parameters for the vehicle.

Feedforward controllers require vehicle parameters because they model the vehicle. Vehicle parameters do not need to be precise. Most of the vehicle parameters required by the driver can be automatically calculated from the vehicle model.
Specify the parameters for the vehicle.

Write an Altair Driver File (ADF) Driving Event


Fish Hook Event

We will model this event in three maneuvers.

  1. Open any text editor and copy and paste the following text into it. Important:
    Important: All blank lines must be removed prior to saving the file!

    Be sure to read through the comments for a better understanding on what is written in the ADF.

    $-----------------------------------------------------------------ALTAIR_HEADER
    [ALTAIR_HEADER]
    FILE_TYPE 		= 'ADF'
    FILE_VERSION 	= 1.0
    FILE_FORMAT 	= 'ASCII'
    $--------------------------------------------------------------------------UNITS
    [UNITS]
    (BASE)
    {length  force      angle       mass    time}
    'meter'   'newton'   'radians'   'kg'    'sec'
    $--------------------------------------------------------------VEHICLE_IC
    [VEHICLE_INITIAL_CONDITIONS]
    VX0 	= -17.5
    VY0 	= 0.0
    VZ0 	= 0.0
    $--------------------------------------------------------------STEERING_STANDARD
    [STEER_STANDARD]
    $Upper and lower bounds are kept to match the event requirement of saturating at 
    $270 deg and -540 deg respectively
    MAX_VALUE 	        =  4.712 
    MIN_VALUE 	        =  -9.425
    SMOOTHING_FREQUENCY = 5 
    INITIAL_VALUE       = 0.0
    $--------------------------------------------------------------THROTTLE_STANDARD
    [THROTTLE_STANDARD]
    MAX_VALUE           = 1
    MIN_VALUE           = 0
    SMOOTHING_FREQUENCY = 5
    INITIAL_VALUE       = 0.0
    $---------------------------------------------------------------BRAKING_STANDARD
    [BRAKE_STANDARD]
    MAX_VALUE           = 1
    MIN_VALUE           = 0
    SMOOTHING_FREQUENCY = 5
    INITIAL_VALUE       = 0.0
    $-----------------------------------------------------------------MANEUVERS_LIST
    [MANEUVERS_LIST]
    {name  		simulation_time         h_max   	print_interval}
    'GO_STRAIGHT'        		2.0     		0.01		0.1
    'LEFT_TURN'                 	12.0		0.001		0.1
    'RIGHT_TURN'              	10.0		0.001       	0.1
    [GO_STRAIGHT]
    TASK = 'STANDARD' 
    (CONTROLLERS)
    {DRIVER_SIGNAL  PRIMARY_CONTROLLER	ADDITIONAL_CONTROLLER}
     STEER	OL_CONSTANT_STEER           	NONE
     THROTTLE	FEED_FORWARD_TRACTION       	NONE
     BRAKE	FEED_FORWARD_TRACTION       	NONE
    $---------------------------------------------------------------------MANEUVER_2
    [LEFT_TURN] 
    TASK = 'STANDARD' 
    (CONTROLLERS)
    {DRIVER_SIGNAL  PRIMARY_CONTROLLER	ADDITIONAL_CONTROLLER}
     STEER	OL_LEFT_STEER            		NONE
     THROTTLE	FEED_FORWARD_TRACTION		NONE
     BRAKE	FEED_FORWARD_TRACTION		NONE
    $We want to end the maneuver if the roll rate reaches steady state i.e. d(Roll rate)/dt = 0 
    $(tolerance = 0.005) for 0.5 seconds
    (END_CONDITIONS)
    {SIGNAL                GROUP  ABS  OPERATOR  VALUE  TOLERANCE  WATCH_TIME}
     ROLL_RATE           0	        	Y       SS      	 	0           0.005		0.5
    $---------------------------------------------------------------------MANEUVER_3
    [RIGHT_TURN] 
    TASK = 'STANDARD' 
    (CONTROLLERS)
    {DRIVER_SIGNAL  PRIMARY_CONTROLLER	ADDITIONAL_CONTROLLER}
     STEER	OL_RIGHT_STEER            	NONE
     THROTTLE	FEED_FORWARD_TRACTION	NONE
     BRAKE	FEED_FORWARD_TRACTION	NONE
    $--------------------------------------STEER for Maneuver 1
    [OL_CONSTANT_STEER]
    TAG = 'OPENLOOP'
    TYPE = 'CONSTANT'
    VALUE = 0 
    $--------------------------------------STEER for Maneuver 2
    $Ramp up the steering wheel @ 360 deg per send
    [OL_LEFT_STEER]
    TAG = 'OPENLOOP'
    TYPE = 'EXPRESSION'
    SIGNAL_CHANNEL = 0
    EXPRESSION = '{STEER_0} + {%TIME}*PI*2'
    $--------------------------------------STEER for Maneuver 3
    [OL_RIGHT_STEER]
    TAG = 'OPENLOOP'
    TYPE = 'EXPRESSION'
    SIGNAL_CHANNEL = 0
    EXPRESSION = '{STEER_0} - {%TIME}*PI*2'
    $--------------------------------------THROTTLE and BRAKE controller for entire event
     [FEED_FORWARD_TRACTION]
    TAG             = 'FEEDFORWARD'
    TYPE            = 'FOLLOW_VELOCITY'
    LOOK_AHEAD_TIME = 0.5
    DEMAND_SIGNAL   = 'DEMAND_VEL'
    $----------------Demand Velocity
    [DEMAND_VEL]
    TYPE            = 'CONSTANT'
    VALUE           = 17.5
  2. Run the simulation .
  3. Observe the results.
    Maneuver 2 stops when roll rate is consistently 0 (with mentioned tolerance) for 0.5 seconds.
    Figure 3.