Parameters & Launch
Entry point of the simulator. These two files must be executed before any other module — Parameters.sce defines every global variable, and Pre_Launch.sce loads all modules in the correct dependency order.
Parameters.sce
Defines every global variable used across the simulator — vehicle geometry, ground parameters, trajectory reference, observer gains, and controller tuning. This file must be executed first. All other modules read from these globals via the global keyword.
Three reference paths are available in the Trajectories/ folder. Comment and uncomment the corresponding loadmatfile line to switch between them :
TrajZAdams.mat— Z-shaped maneuverQuartAdams.mat— quarter-circle headland turnlineAdamsLong.mat— long straight line
Only one trajectory can be active at a time.
You can download the full project with the trajectories, all the script, the Xcos and the csv of the differents test here (there's also the SVG generator for the Results part) :
Parameters.sce
// Definition of the trajectory, vehicle, and ground parameters
global RefTraj ;
global Length_Front ; // Distance from the center of gravity to the front axle.
global Length_Rear ; // Distance from the center of gravity to the rear axle.
global Wheelbase ; // Total wheelbase of the vehicle.
global Track_Width ; // Transverse distance between the left and right wheels.
global Wheel_Radius ; // Radius of the vehicle's wheels in meters.
global Vehicle_Mass ; // Total mass of the vehicle in kilograms.
global Yaw_Inertia ; // Yaw moment of inertia of the vehicle.
global Sample_Time ; // Simulation sampling time in seconds.
global Sensor_Sample_Time ; // Initial measured lateral deviation or sensor offset.
global Cornering_Stiffness ; // Tire cornering stiffness for the linear dynamics model.
global Lookahead_Distance // Look-ahead distance for classical steering control (meters).
global Horizon_Of_Prediction ; // Spatial window for mathematical optimization of future trajectory states.
// Definition of the initialization and simulation parameters
global X_Init
global Y_Init
global Yaw_Init
global Yaw_Derivative_Init
global Beta_Init
global Front_Lateral_Force_Init
global Rear_Lateral_Force_Init
global Speed_Init
global Speed
global Simulation_Duration
global R_Steer_Ref
global Smoothed_Traj ;
global Act_State_Matrix
global Act_Input_Matrix
global Act_Output_Matrix
global Lateral_Error_Dot
global Heading_Error_Dot
global g
// ---------- Trajectory selection
//loadmatfile ('Trajectoires/TrajZAdams.mat') ;
loadmatfile ('Trajectoires/QuartAdams.mat') ;
//loadmatfile ('Trajectoires/lineAdamsLong.mat') ;
Smoothed_Traj = Path_Filter(TrajMere);
// ---------- Vehicle parameters
Wheelbase = 1.3 ;
Length_Rear = 0.7 ;
Length_Front = Wheelbase - Length_Rear ;
Track_Width = 1.2 ;
Wheel_Radius = 0.4 ;
Vehicle_Mass = 500 ;
Yaw_Inertia = 500 ;
Cornering_Stiffness = 55000 ;
Lookahead_Distance = 8 ;
Horizon_Of_Prediction = -0.65 ;
Heading_Error_Desired = 0 ;
R_Steer_Ref = 0 ;
g = 9.81 ;
// ---------- Initialization
X_Init = 0.5 ;
Y_Init = -0.5 ;
Yaw_Init = %pi ;
Yaw_Derivative_Init = 0 ;
Beta_Init = 0 ;
Front_Lateral_Force_Init = 0 ;
Rear_Lateral_Force_Init = 0 ;
Speed_Init = 0 ;
Speed = 2 ;
// ---------- Actuator Parameters ----------
Act_a1 = 1.55 ; // These coefficients represent the physical delay and dynamics of the steering motor
Act_a2 = -0.633 ;
Act_b1 = 0.04 ;
Act_b2 = 0.04 ;
Act_State_Matrix = [Act_b1, Act_b2, Act_a2 ;
1, 0, 0 ;
0, 0, 0 ] ;
Act_Input_Matrix = [Act_a1 ; 0 ; 1] ;
Act_Output_Matrix = [1, 0, 0] ;
// ---------- Simulation parameters
//Simulation Duration : QuartAdam = 45s ; ZAdam = 62s
Sample_Time = 0.01 ;
Sensor_Sample_Time = 0.01 ;
Pre_Launch.sce
Master launcher that sequentially calls exec() on every module in the correct dependency order. Run this single file to initialize the full simulation environment in one shot.
Pre_Launch.sce
exec('Path_Filter.sce', -1);
exec('Closest_Point.sce', -1);
exec('Find_Current_Pos_Desired.sce', -1);
exec('Tracking_Errors.sce', -1);
exec('Curvature.sce', -1);
exec('Compute_Distance.sce', -1);
exec('Find_Future_Pos_Desired.sce', -1);
exec('Observer.sce', -1);
exec('Front_Axle.sce', -1);
exec('Rear_Axle.sce', -1);
exec('GPC.sce', -1);
exec('Dynamic_Mouvement.sce', -1);
exec('Parameters.sce', -1);
exec('Animation.sce', -1);