Path following controller block with throttle and brake output

Hello, I inserted the FMU from the Adams Car software into Simulink (I already have a modeled vehicle there that I want to get into the simulation), but I ran into a problem with the fact that I need a steering command, throttle command and brake command to control my Adams Car vehicle.

In Simulink, I would like to use a Path following controller to control my vehicle, but it has a steering angle output (which is ok, I know how to use it) and a Longitudinal acceleration output, which I would need to somehow convert into a throttle and brake command that my FMU needs.

Has anyone done something similar? Is there a block in Simulink that can solve such a "conversion" or is there some other procedure for this?

Answer 1

[Mike Sasena]

Hi Igor,

You could check out this demo from Vehicle Dynamics Blockset. It has a driver subsystem that takes in waypoints and returns steering, accelerator and brake commands. Hopefully that can give you a good starting point.