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@andresmendes
andresmendes committed Jul 8, 2021
1 parent dacf154 commit e239c07
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168 changes: 168 additions & 0 deletions +VehicleDynamicsLongitudinal/@Graphics/Graphics.m
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classdef Graphics
% Graphics Functions for graphics generation.
%

methods
% Constructor
function self = Graphics(simulator)
self.Simulator = simulator;
self.VehicleColor = 'r';
end

function Animation(self, varargin)

vehicle_position = self.Simulator.X;
vehicle_speed = self.Simulator.V;
vehicle_acc = self.Simulator.A;
TOUT = self.Simulator.TSpan;
force_long = self.Simulator.F;
speed_ref = self.Simulator.Vr;

vehicle_Length = self.Simulator.Vehicle.L;
vehicle_Width = self.Simulator.Vehicle.W;

% Road
road_Width = 10; % Road width [m]
road_Margin = 2; % Road margin [m]
road_Dist_Analysis = 100; % Road distance analysis [m]

if nargin == 2
name = varargin{1};
else
name = 'animacao';
end

figure
% set(gcf,'Position',[50 50 1280 720]) % 720p
set(gcf,'Position',[50 50 854 480]) % 480p

% Create and open video writer object
v = VideoWriter(strcat(name,'.mp4'),'MPEG-4');
v.Quality = 100;
open(v);

for i=1:length(TOUT)
subplot(3,2,1)
hold on ; grid on ; box on
set(gca,'xlim',[0 TOUT(end)],'ylim',[0 1.2*max(vehicle_position)])
cla
plot(TOUT,vehicle_position,'b')
plot([TOUT(i) TOUT(i)],[0 1.2*max(vehicle_position)],'k--')
xlabel('Time [s]')
ylabel('Position [m]')
title('Position')
subplot(3,2,2)
hold on ; grid on ; box on
set(gca,'xlim',[0 TOUT(end)],'ylim',[0 1.2*max(vehicle_speed)])
cla
plot(TOUT,speed_ref,'k')
plot(TOUT,vehicle_speed,'b')
plot([TOUT(i) TOUT(i)],[0 1.2*max(vehicle_speed)],'k--')
xlabel('Time [s]')
ylabel('Speed [m/s]')
title('Speed (Black=Reference, Blue=Actual)')
subplot(3,2,3)
hold on ; grid on ; box on
set(gca,'xlim',[0 TOUT(end)],'ylim',[min(vehicle_acc)-1 max(vehicle_acc)+1])
cla
plot(TOUT,vehicle_acc,'b')
plot([TOUT(i) TOUT(i)],[min(vehicle_acc)-1 max(vehicle_acc)+1],'k--')
xlabel('Time [s]')
ylabel('Acceleration [m/s2]')
title('Acceleration')
subplot(3,2,4)
hold on ; grid on ; box on
set(gca,'xlim',[0 TOUT(end)],'ylim',[min(force_long)-500 max(force_long)+500])
cla
plot(TOUT,force_long,'b')
plot([TOUT(i) TOUT(i)],[min(force_long)-500 max(force_long)+500],'k--')
xlabel('Time [s]')
ylabel('Lon. force [N]')
title('Longitudinal force')
subplot(3,2,5:6)
hold on ; axis equal ; box on
cla
% Position of the vehicle at current instant [m]
vehicle_position_inst = vehicle_position(i);

sideMarkingsX = [vehicle_position_inst-road_Dist_Analysis/2 vehicle_position_inst+road_Dist_Analysis/2];
set(gca,'xlim',sideMarkingsX,'ylim',[-road_Width/2-road_Margin +road_Width/2+road_Margin])

plot(sideMarkingsX,[+road_Width/2 +road_Width/2],'k--') % Left marking
plot(sideMarkingsX,[-road_Width/2 -road_Width/2],'k--') % Right marking

% Dimensions
vehicle_dimension_X = [vehicle_position_inst vehicle_position_inst vehicle_position_inst-vehicle_Length vehicle_position_inst-vehicle_Length];
vehicle_dimension_Y = [+vehicle_Width/2 -vehicle_Width/2 -vehicle_Width/2 +vehicle_Width/2];
% Plotting
fill(vehicle_dimension_X,vehicle_dimension_Y,'r')

xlabel('Lon. distance [m]')
ylabel('Lat. distance [m]')

frame = getframe(gcf);
writeVideo(v,frame);
end

close(v);

end

function Plot_Signals(self, varargin)

vehicle_position = self.Simulator.X;
vehicle_speed = self.Simulator.V;
vehicle_acc = self.Simulator.A;
TOUT = self.Simulator.TSpan;
force_long = self.Simulator.F;
speed_ref = self.Simulator.Vr;

figure
% set(gcf,'Position',[50 50 1280 720]) % 720p
set(gcf,'Position',[50 50 854 480]) % 480p

subplot(2,2,1)
hold on ; grid on ; box on
set(gca,'xlim',[0 TOUT(end)],'ylim',[0 1.2*max(vehicle_position)])
cla
plot(TOUT,vehicle_position,'b')
xlabel('Time [s]')
ylabel('Position [m]')
title('Position')
subplot(2,2,2)
hold on ; grid on ; box on
set(gca,'xlim',[0 TOUT(end)],'ylim',[0 1.2*max(vehicle_speed)])
cla
plot(TOUT,speed_ref,'k')
plot(TOUT,vehicle_speed,'b')
xlabel('Time [s]')
ylabel('Speed [m/s]')
title('Speed (Black=Reference, Blue=Actual)')
subplot(2,2,3)
hold on ; grid on ; box on
set(gca,'xlim',[0 TOUT(end)],'ylim',[min(vehicle_acc)-1 max(vehicle_acc)+1])
cla
plot(TOUT,vehicle_acc,'b')
xlabel('Time [s]')
ylabel('Acceleration [m/s2]')
title('Acceleration')
subplot(2,2,4)
hold on ; grid on ; box on
set(gca,'xlim',[0 TOUT(end)],'ylim',[min(force_long)-500 max(force_long)+500])
cla
plot(TOUT,force_long,'b')
xlabel('Time [s]')
ylabel('Lon. force [N]')
title('Longitudinal force')

end
end

%% Properties
%

properties
Simulator
VehicleColor
end
end
57 changes: 36 additions & 21 deletions +VehicleDynamicsLongitudinal/@Simulator/Simulator.m
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classdef Simulator<handle
% Simulator Vehicle dynamics simulator
% The simulator receives a vehicle object that inherits from VehicleSimple, simulates its behavior during a given time span and provides its behavior during time via its properties. Each property is a (timespan, 1) vector in which each value represents that parameter's value in time.
% Simulator The simulator receives a vehicle object, simulates its
% behavior during a given time span and provides its motion during time
% via its properties. Each property is a (timespan, 1) vector in which
% each value represents that parameter's value in time.
methods
% Constructor
function self = Simulator(vehicle, tspan)
self.Vehicle = vehicle;
self.TSpan = tspan;
self.Vehicle = vehicle; % Vehicle object.
self.TSpan = tspan; % Time span [s]
% Initial conditions
self.X0 = 0;
self.V0 = 20;
self.X0 = 0; % Initial position [m]
self.V0 = 20; % Initial speed [m/s]
end

function f = getInitialState(self)
% Transforms properties into a vector so it can be used by the integrator
% Transforms properties into a vector so it can be used by the
% integrator
f = [self.X0 self.V0];
end

function Simulate(self)
options = odeset('AbsTol',1e-6,'RelTol',1e-6);
[TOUT, XOUT] = ode45(@(t, estados) self.Vehicle.Model(t, estados,self.TSpan), self.TSpan, self.getInitialState(),options);
[TOUT, ZOUT] = ode45(@(t, estados) self.Vehicle.Model(t, estados,self.TSpan), self.TSpan, self.getInitialState(),options);
% retrieve states exclusive to the vehicle
self.X = XOUT(:, 1);
self.V = XOUT(:, 2);
self.X = ZOUT(:, 1);
self.V = ZOUT(:, 2);

% TSpan and TOUT contain the same values, but the first is passed in columns, while the second is a vector
% TSpan and TOUT contain the same values, but the first is
% passed in columns, while the second is a vector
self.TSpan = TOUT;

% Acceleration | Force | Reference speed
% Preallocating
self.A = zeros(length(TOUT),1);
self.F = zeros(length(TOUT),1);
self.Vr = zeros(length(TOUT),1);
for i=1:length(TOUT)
[dz,F_l,V_r] = self.Vehicle.Model(TOUT(i),ZOUT(i,:),self.TSpan);
self.A(i) = dz(2);
self.F(i) = F_l;
self.Vr(i) = V_r;
end

end
end

properties
Vehicle % Vehicle model to be used in the simulation
TSpan % a vector indicating the intervals in which the simulation steps will be conducted
X0 % Initial position [m]
V0 % Initial speed [m/s]
X % Longitudinal position [m]
V % Longitudinal speed [m/s]
X0 % Initial position [m]
V0 % Initial speed [m/s]
X % Longitudinal position [m]
V % Longitudinal speed [m/s]
A % Longitudinal acceleration [m/s2]
F % Longitudinal force [N]
Vr % Reference speed [m/s]
end
end

%% See Also
%
% <https://github.com/andresmendes/Vehicle-Dynamics-Longitudinal Home>
%
end
30 changes: 16 additions & 14 deletions +VehicleDynamicsLongitudinal/@VehicleModel/VehicleModel.m
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end

properties
m % Mass of the vehicle [kg]
Ft % Traction force [N]
Fb % Brake force [N]
Rx % Rolling resistance [N]
Dx % Drag force [N]
Gx % Gravity force [N]
% Vehicle parameters
m % Mass of the vehicle [kg]
Cd % Drag coefficient [-]
A % Frontal area [m2]
L % Length of the vehicle [m]
W % Width of the vehicle [m]
% Constants
g % Gravity [m/s2]
rho % Air density [kg/m2]
% Function handle
slope % Road slope function
v_ref % Speed reference function
control % Speed reference function

end

methods



end

end

%% See Also
%
% <https://github.com/andresmendes/Vehicle-Dynamics-Longitudinal Home>
%
end
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