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ZOrder 16
IconDisplay "Port number"
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ZOrder 17
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ShowName off
DisplayOption "bar"
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Block {
BlockType SubSystem
Name "Powertrain System1"
SID "165"
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Position [370, 96, 600, 154]
ZOrder 69
RequestExecContextInheritance off
Variant off
Port {
PortNumber 2
Name "current_gear_s"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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System {
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ModelBrowserWidth 200
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Block {
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Block {
BlockType Inport
Name "x_v6"
SID "167"
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ZOrder 18
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ZOrder 29
InputPortMap "u0"
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SampleTime "vehicle_parameters.powertrain.delay"
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Block {
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Position [435, 228, 470, 262]
ZOrder 27
BlockMirror on
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Block {
BlockType SubSystem
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Position [370, 89, 540, 201]
ZOrder 24
LibraryVersion "1.32"
ErrorFcn "Stateflow.Translate.translate"
PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
Variant off
System {
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ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
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ShowPageBoundaries off
ZoomFactor "100"
SIDHighWatermark "32"
Block {
BlockType Inport
Name "throttle_s"
SID "170::20"
Position [20, 101, 40, 119]
ZOrder 11
IconDisplay "Port number"
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Block {
BlockType Inport
Name "x_v6"
SID "170::19"
Position [20, 136, 40, 154]
ZOrder 10
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "gear_s"
SID "170::28"
Position [20, 171, 40, 189]
ZOrder 17
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Demux
Name " Demux "
SID "170::31"
Ports [1, 1]
Position [270, 230, 320, 270]
ZOrder 20
Outputs "1"
}
Block {
BlockType S-Function
Name " SFunction "
SID "170::30"
Tag "Stateflow S-Function sim_environment_ltr_gcc 8"
Ports [3, 3]
Position [180, 100, 230, 180]
ZOrder 19
FunctionName "sf_sfun"
Parameters "vehicle_parameters"
PortCounts "[3 3]"
SFunctionDeploymentMode off
EnableBusSupport on
SFcnIsStateOwnerBlock off
Port {
PortNumber 2
Name "fxf_s"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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Port {
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Name "gear_next_s"
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DataLoggingNameMode "SignalName"
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}
Block {
BlockType Terminator
Name " Terminator "
SID "170::32"
Position [460, 241, 480, 259]
ZOrder 21
}
Block {
BlockType Outport
Name "fxf_s"
SID "170::25"
Position [460, 101, 480, 119]
ZOrder 16
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "gear_next_s"
SID "170::29"
Position [460, 136, 480, 154]
ZOrder 18
Port "2"
IconDisplay "Port number"
}
Line {
ZOrder 8
SrcBlock "throttle_s"
SrcPort 1
DstBlock " SFunction "
DstPort 1
}
Line {
ZOrder 9
SrcBlock "x_v6"
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DstBlock " SFunction "
DstPort 2
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Line {
ZOrder 10
SrcBlock "gear_s"
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DstBlock " SFunction "
DstPort 3
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Line {
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ZOrder 11
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SrcBlock " SFunction "
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DstBlock "fxf_s"
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Line {
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ZOrder 12
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SrcBlock " SFunction "
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DstBlock "gear_next_s"
DstPort 1
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Line {
ZOrder 13
SrcBlock " Demux "
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DstBlock " Terminator "
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Line {
ZOrder 14
SrcBlock " SFunction "
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DstBlock " Demux "
DstPort 1
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}
Block {
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SID "171"
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Position [590, 99, 690, 141]
ZOrder 17
LibraryVersion "1.78"
SourceBlock "aerolibactuator/Nonlinear Second-Order Actuator"
SourceType "NonlinearSecondOrderActuator"
ContentPreviewEnabled off
wn_fin "2 * pi / vehicle_parameters.powertrain.engine_tc"
z_fin "1"
fin_max "Inf"
fin_min "-Inf"
fin_maxrate "Inf"
fin_act_0 "0"
fin_act_vel "0"
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Block {
BlockType Saturate
Name "Saturation"
SID "172"
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Position [165, 95, 195, 125]
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ShowName off
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LowerLimit "0"
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Block {
BlockType TransferFcn
Name "Throttle Filter"
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ZOrder 26
Denominator "[vehicle_parameters.powertrain.throttle_tc/2/pi 1]"
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Block {
BlockType Outport
Name "front_powertrain_force_s"
SID "174"
Position [780, 113, 810, 127]
ZOrder -2
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "gear_s"
SID "175"
Position [785, 288, 815, 302]
ZOrder 31
Port "2"
IconDisplay "Port number"
}
Line {
ZOrder 1
SrcBlock "Lateral Controllers"
SrcPort 1
DstBlock "Nonlinear Second-Order Actuator"
DstPort 1
}
Line {
ZOrder 2
SrcBlock "throttle_cmd_s"
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DstBlock "Saturation"
DstPort 1
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Line {
ZOrder 3
SrcBlock "Throttle Filter"
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DstBlock "Command Delay"
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Line {
ZOrder 4
SrcBlock "Lateral Controllers"
SrcPort 2
Points [9, 0; 0, 70]
DstBlock "Gearshift Delay"
DstPort 1
}
Line {
ZOrder 5
SrcBlock "Gearshift Delay"
SrcPort 1
Points [-75, 0]
Branch {
ZOrder 6
DstBlock "Lateral Controllers"
DstPort 3
}
Branch {
ZOrder 7
Points [0, 50]
DstBlock "gear_s"
DstPort 1
}
}
Line {
ZOrder 8
SrcBlock "Nonlinear Second-Order Actuator"
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DstBlock "front_powertrain_force_s"
DstPort 1
}
Line {
ZOrder 9
SrcBlock "x_v6"
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DstBlock "Lateral Controllers"
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Line {
ZOrder 10
SrcBlock "Command Delay"
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DstBlock "Lateral Controllers"
DstPort 1
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Line {
ZOrder 11
SrcBlock "Saturation"
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DstBlock "Throttle Filter"
DstPort 1
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}
}
Block {
BlockType SubSystem
Name "Steering System"
SID "48"
Ports [1, 1]
Position [370, -19, 600, 39]
ZOrder 22
RequestExecContextInheritance off
Variant off
Port {
PortNumber 1
Name "front_steer_s"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
System {
Name "Steering System"
Location [53, 23, 1920, 1200]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "175"
Block {
BlockType Inport
Name "road_steering_angle_cmd_s"
SID "49"
Position [110, 103, 140, 117]
ZOrder -1
IconDisplay "Port number"
}
Block {
BlockType Delay
Name "Command Delay"
SID "60"
Ports [1, 1]
Position [210, 93, 245, 127]
ZOrder 6
InputPortMap "u0"
DelayLength "1"
InitialCondition "0"
SampleTime "vehicle_parameters.steering.delay"
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Block {
BlockType Reference
Name "Nonlinear Second-Order Actuator"
SID "94"
Ports [1, 1]
Position [295, 89, 395, 131]
ZOrder 15
LibraryVersion "1.78"
SourceBlock "aerolibactuator/Nonlinear Second-Order Actuator"
SourceType "NonlinearSecondOrderActuator"
ContentPreviewEnabled off
wn_fin "2 * pi / vehicle_parameters.steering.tc"
z_fin "1"
fin_max "vehicle_parameters.steering.angle_limit"
fin_min "-vehicle_parameters.steering.angle_limit"
fin_maxrate "vehicle_parameters.steering.rate_limit"
fin_act_0 "0"
fin_act_vel "0"
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Block {
BlockType Outport
Name "road_steering_angle_s\n"
SID "50"
Position [460, 103, 490, 117]
ZOrder -2
IconDisplay "Port number"
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Line {
ZOrder 12
SrcBlock "road_steering_angle_cmd_s"
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DstBlock "Command Delay"
DstPort 1
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Line {
ZOrder 61
SrcBlock "Command Delay"
SrcPort 1
DstBlock "Nonlinear Second-Order Actuator"
DstPort 1
}
Line {
ZOrder 62
SrcBlock "Nonlinear Second-Order Actuator"
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DstBlock "road_steering_angle_s\n"
DstPort 1
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}
}
Block {
BlockType Sum
Name "Sum"
SID "34"
Ports [2, 1]
Position [665, 145, 685, 165]
ZOrder 19
ShowName off
IconShape "round"
Inputs "+|+"
InputSameDT off
OutDataTypeStr "Inherit: Inherit via internal rule"
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Port {
PortNumber 1
Name "front_tire_force_s"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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}
Block {
BlockType SubSystem
Name "Trajectory Reference"
SID "176"
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Position [-395, 141, -175, 259]
ZOrder 71
LibraryVersion "1.32"
ErrorFcn "Stateflow.Translate.translate"
PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
Variant off
System {
Name "Trajectory Reference"
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ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
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PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
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ZoomFactor "100"
SIDHighWatermark "33"
Block {
BlockType Inport
Name "x_v6"
SID "176::19"
Position [20, 101, 40, 119]
ZOrder 10
IconDisplay "Port number"
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Block {
BlockType Demux
Name " Demux "
SID "176::32"
Ports [1, 1]
Position [270, 280, 320, 320]
ZOrder 21
Outputs "1"
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Block {
BlockType S-Function
Name " SFunction "
SID "176::31"
Tag "Stateflow S-Function sim_environment_ltr_gcc 5"
Ports [1, 5]
Position [180, 100, 230, 220]
ZOrder 20
FunctionName "sf_sfun"
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SFunctionDeploymentMode off
EnableBusSupport on
SFcnIsStateOwnerBlock off
Port {
PortNumber 2
Name "vx_ref_s"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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Port {
PortNumber 3
Name "ax_ref_s"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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Port {
PortNumber 4
Name "kappa_s"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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Port {
PortNumber 5
Name "stop_s"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
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Name " Terminator "
SID "176::33"
Position [460, 291, 480, 309]
ZOrder 22
}
Block {
BlockType Outport
Name "vx_ref_s"
SID "176::25"
Position [460, 101, 480, 119]
ZOrder 16
IconDisplay "Port number"
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Block {
BlockType Outport
Name "ax_ref_s"
SID "176::28"
Position [460, 136, 480, 154]
ZOrder 17
Port "2"
IconDisplay "Port number"
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Block {
BlockType Outport
Name "kappa_s"
SID "176::29"
Position [460, 171, 480, 189]
ZOrder 18
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "stop_s"
SID "176::30"
Position [460, 206, 480, 224]
ZOrder 19
Port "4"
IconDisplay "Port number"
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Line {
ZOrder 8
SrcBlock "x_v6"
SrcPort 1
DstBlock " SFunction "
DstPort 1
}
Line {
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ZOrder 9
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SrcBlock " SFunction "
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Points [0, -25]
DstBlock "vx_ref_s"
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Line {
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ZOrder 10
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SrcBlock " SFunction "
SrcPort 3
DstBlock "ax_ref_s"
DstPort 1
}
Line {
Name "kappa_s"
ZOrder 11
Labels [0, 0]
SrcBlock " SFunction "
SrcPort 4
DstBlock "kappa_s"
DstPort 1
}
Line {
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SrcBlock " SFunction "
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ZOrder 14
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}
}
}
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BlockType Stop
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BlockRotation 270
BlockMirror on
NamePlacement "alternate"
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Line {
ZOrder 45
SrcBlock "Chassis"
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Points [13, 0; 0, -375; -654, 0]
Branch {
ZOrder 543
Points [0, 230]
DstBlock "Powertrain System1"
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Branch {
ZOrder 482
Points [-622, 0]
Branch {
ZOrder 602
Points [0, 65]
DstBlock "GPS Sensor"
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}
Branch {
ZOrder 600
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DstBlock "Trajectory Reference"
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}
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Line {
ZOrder 46
SrcBlock "Mux"
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}
Line {
Name "rear_steer_s"
ZOrder 47
Labels [1, 1]
SrcBlock "Constant"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
Name "front_tire_force_s"
ZOrder 49
Labels [1, 1]
SrcBlock "Sum"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
Name "rear_tire_force_s"
ZOrder 510
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SrcBlock "Brake System"
SrcPort 2
DstBlock "Mux"
DstPort 4
}
Line {
ZOrder 511
SrcBlock "Brake System"
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Points [70, 0]
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Line {
ZOrder 545
SrcBlock "Powertrain System1"
SrcPort 1
Points [70, 0]
DstBlock "Sum"
DstPort 1
}
Line {
Name "front_steer_s"
ZOrder 55
Labels [1, 1]
SrcBlock "Steering System"
SrcPort 1
Points [120, 0]
Branch {
ZOrder 384
Points [0, 115]
DstBlock "Mux"
DstPort 1
}
Branch {
ZOrder 279
Points [0, -87; -826, 0; 0, 87]
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}
}
Line {
ZOrder 381
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Line {
ZOrder 382
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Line {
ZOrder 383
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DstBlock "Steering System"
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Line {
ZOrder 429
SrcBlock "Command Delay1"
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Points [15, 0]
Branch {
ZOrder 577
Points [0, 150]
DstBlock "Longitudinal Controller1"
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Branch {
ZOrder 533
DstBlock "Lateral Controller/Observer"
DstPort 1
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}
Line {
ZOrder 437
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Points [50, 0; 0, -30]
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ZOrder 547
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Line {
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Labels [3, 1]
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Points [21, 0; 0, 116; -719, 0; 0, -41]
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Line {
ZOrder 594
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Name "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n"
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"t:0px;\"><span style=\" font-size:14px;\">Simulation framework for vehicle control and estimation design.</span>"
"</p>\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px;"
" -qt-block-indent:0; text-indent:0px;\"><br /></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0"
"px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">Signal Standard:</"
"span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0;"
" text-indent:0px;\"><span style=\" font-size:10px;\"> X_s - scalar signal</span></p>\n<p style=\" margin-top:"
"0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\""
" font-size:10px;\"> X_vn - vector signal of size n</span></p>\n<p style=\"-qt-paragraph-type:empty; margin-to"
"p:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p>\n"
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"t:0px;\"><span style=\" font-size:10px;\">Author: Carlos Massera Filho</span></p>\n<p style=\" margin-top:0px; m"
"argin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-"
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#Finite State Machines
#
# Stateflow 80000010
#
#
Stateflow {
machine {
id 1
name "sim_environment_ltr_gcc"
created "05-Aug-2016 10:42:47"
isLibrary 0
sfVersion 80000010
firstTarget 82
}
chart {
id 2
machine 1
name "Chassis/Bicycle Model"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 3 0 0]
viewObj 2
ssIdHighWaterMark 11
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 2
disableImplicitCasting 1
eml {
name "bicycle_model_wrapper"
}
firstData 4
firstTransition 13
firstJunction 12
}
state {
id 3
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 2
treeNode [2 0 0 0]
superState SUBCHART
subviewer 2
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function [dx, ax] = bicycle_model_wrapper(x, u, kappa, mu, ax_prev, vehicle_parameters)\n\n [d"
"x, ax] = nonliear_bicycle_model(x, u, kappa, mu, ax_prev, vehicle_parameters);\nend"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 4
ssIdNumber 6
name "x"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [2 0 5]
}
data {
id 5
ssIdNumber 4
name "u"
scope INPUT_DATA
machine 1
props {
array {
size "4"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
}
complexity SF_COMPLEX_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [2 4 6]
}
data {
id 6
ssIdNumber 5
name "dx"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [2 5 7]
}
data {
id 7
ssIdNumber 7
name "kappa"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [2 6 8]
}
data {
id 8
ssIdNumber 8
name "mu"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [2 7 9]
}
data {
id 9
ssIdNumber 9
name "ax_prev"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [2 8 10]
}
data {
id 10
ssIdNumber 10
name "vehicle_parameters"
scope PARAMETER_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [2 9 11]
}
data {
id 11
ssIdNumber 11
name "ax"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [2 10 0]
}
junction {
id 12
position [23.5747 49.5747 7]
chart 2
subviewer 2
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [2 0 0]
}
transition {
id 13
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
src {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
id 12
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 2
dataLimits [21.175 25.975 14.625 42.575]
subviewer 2
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [2 0 0]
}
instance {
id 14
machine 1
name "Chassis/Bicycle Model"
chart 2
}
chart {
id 15
machine 1
name "Lateral Controller//Observer/Lateral Observer"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 16 0 0]
viewObj 15
ssIdHighWaterMark 17
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 3
disableImplicitCasting 1
eml {
name "lateral_observer_wrapper"
}
firstData 17
firstTransition 26
firstJunction 25
}
state {
id 16
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 15
treeNode [15 0 0 0]
superState SUBCHART
subviewer 15
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function [x_hat_v6, count_out_s] = lateral_observer_wrapper(y_v4, u_prev_s, kappa_s, observer, x_"
"hat_prev_v6, count_in_s)\n\n x_hat_v6 = zeros(6,1);\n count_out_s = 0;\n \n x_hat_v6 = lateral_obser"
"ver(y_v4, x_hat_prev_v6, u_prev_s, kappa_s, observer, count_in_s == 0);\n \n count_out_s = mod(count_in_s "
"+ 1, observer.subsampling);\nend"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 17
ssIdNumber 6
name "y_v4"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [15 0 18]
}
data {
id 18
ssIdNumber 15
name "u_prev_s"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [15 17 19]
}
data {
id 19
ssIdNumber 7
name "kappa_s"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [15 18 20]
}
data {
id 20
ssIdNumber 8
name "observer"
scope PARAMETER_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [15 19 21]
}
data {
id 21
ssIdNumber 14
name "x_hat_prev_v6"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [15 20 22]
}
data {
id 22
ssIdNumber 4
name "x_hat_v6"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [15 21 23]
}
data {
id 23
ssIdNumber 16
name "count_in_s"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [15 22 24]
}
data {
id 24
ssIdNumber 17
name "count_out_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [15 23 0]
}
junction {
id 25
position [23.5747 49.5747 7]
chart 15
subviewer 15
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [15 0 0]
}
transition {
id 26
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
src {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
id 25
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 15
dataLimits [21.175 25.975 14.625 42.575]
subviewer 15
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [15 0 0]
}
instance {
id 27
machine 1
name "Lateral Controller//Observer/Lateral Observer"
chart 15
}
chart {
id 28
machine 1
name "GPS Sensor"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 29 0 0]
viewObj 28
ssIdHighWaterMark 13
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 4
disableImplicitCasting 1
eml {
name "gps_sensor_wrapper"
}
firstData 30
firstTransition 34
firstJunction 33
}
state {
id 29
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 28
treeNode [28 0 0 0]
superState SUBCHART
subviewer 28
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function y_v4 = gps_sensor_wrapper(x_v6, simulation_parameters)\n\n y_v4 = zeros(size(simulati"
"on_parameters.gps.C, 1),1);\n y_v4 = gps_sensor(x_v6, simulation_parameters);\n \nend"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 30
ssIdNumber 6
name "x_v6"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [28 0 31]
}
data {
id 31
ssIdNumber 4
name "y_v4"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [28 30 32]
}
data {
id 32
ssIdNumber 7
name "simulation_parameters"
scope PARAMETER_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [28 31 0]
}
junction {
id 33
position [23.5747 49.5747 7]
chart 28
subviewer 28
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [28 0 0]
}
transition {
id 34
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
src {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
id 33
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 28
dataLimits [21.175 25.975 14.625 42.575]
subviewer 28
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [28 0 0]
}
instance {
id 35
machine 1
name "GPS Sensor"
chart 28
}
chart {
id 36
machine 1
name "Trajectory Reference"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 37 0 0]
viewObj 36
ssIdHighWaterMark 16
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 5
disableImplicitCasting 1
eml {
name "trajectory_reference_wrapper"
}
firstData 38
firstTransition 45
firstJunction 44
}
state {
id 37
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 36
treeNode [36 0 0 0]
superState SUBCHART
subviewer 36
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function [vx_ref_s, ax_ref_s, kappa_s, stop_s] = ...\n trajectory_reference_wrapper(x_v6,"
" simulation_parameters)\n\n s = min(x_v6(1), simulation_parameters.trajectory.s(end));\n [kappa_s, vx_ref_"
"s, ax_ref_s] = trajectory_reference(s, simulation_parameters.trajectory);\n stop_s = (x_v6(1) >= max(simulati"
"on_parameters.trajectory.s));\n \nend"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 38
ssIdNumber 6
name "x_v6"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [36 0 39]
}
data {
id 39
ssIdNumber 4
name "vx_ref_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [36 38 40]
}
data {
id 40
ssIdNumber 7
name "simulation_parameters"
scope PARAMETER_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [36 39 41]
}
data {
id 41
ssIdNumber 14
name "ax_ref_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [36 40 42]
}
data {
id 42
ssIdNumber 15
name "kappa_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [36 41 43]
}
data {
id 43
ssIdNumber 16
name "stop_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [36 42 0]
}
junction {
id 44
position [23.5747 49.5747 7]
chart 36
subviewer 36
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [36 0 0]
}
transition {
id 45
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
src {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
id 44
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 36
dataLimits [21.175 25.975 14.625 42.575]
subviewer 36
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [36 0 0]
}
instance {
id 46
machine 1
name "Trajectory Reference"
chart 36
}
chart {
id 47
machine 1
name "Lateral Controller//Observer/Lateral Controller/Lateral Controller"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 48 0 0]
viewObj 47
visible 1
subviewS {
}
ssIdHighWaterMark 14
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 6
disableImplicitCasting 1
eml {
name "lateral_control_wrapper"
}
firstData 49
firstTransition 55
firstJunction 54
}
state {
id 48
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 47
treeNode [47 0 0 0]
superState SUBCHART
subviewer 47
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function [u_s, opt_in] = lateral_control_wrapper(x_v6, kappa_s, controller)\n\n opt_in = zeros"
"(4,1);\n [u_s, opt_in] = lateral_control(x_v6, kappa_s, controller.lateral);\n \nend"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 49
ssIdNumber 6
name "x_v6"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [47 0 50]
}
data {
id 50
ssIdNumber 4
name "u_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [47 49 51]
}
data {
id 51
ssIdNumber 7
name "kappa_s"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [47 50 52]
}
data {
id 52
ssIdNumber 8
name "controller"
scope PARAMETER_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [47 51 53]
}
data {
id 53
ssIdNumber 14
name "opt_in"
scope OUTPUT_DATA
machine 1
props {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [47 52 0]
}
junction {
id 54
position [23.5747 49.5747 7]
chart 47
subviewer 47
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [47 0 0]
}
transition {
id 55
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
src {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
id 54
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 47
dataLimits [21.175 25.975 14.625 42.575]
subviewer 47
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [47 0 0]
}
instance {
id 56
machine 1
name "Lateral Controller//Observer/Lateral Controller/Lateral Controller"
chart 47
}
chart {
id 57
machine 1
name "Longitudinal Controller1/Longitudinal Controller"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 58 0 0]
viewObj 57
ssIdHighWaterMark 18
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 7
disableImplicitCasting 1
eml {
name "longitudinal_control_wrapper"
}
firstData 59
firstTransition 69
firstJunction 68
}
state {
id 58
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 57
treeNode [57 0 0 0]
superState SUBCHART
subviewer 57
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function [throttle_s, brake_s, dvx_int_s] = longitudinal_control_wrapper(y_v4, vx_ref_s, ...\n "
" ax_ref_s, gear, ...\n "
" vx_int_s, controller)\n\n [throttle_s, brake_s, dvx_int_s"
"] = longitudinal_control(y_v4(3), vx_ref_s, ax_ref_s, ...\n "
" vx_int_s, gear, ...\n controller.longitudinal)"
";\n \nend"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 59
ssIdNumber 6
name "y_v4"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [57 0 60]
}
data {
id 60
ssIdNumber 4
name "throttle_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [57 59 61]
}
data {
id 61
ssIdNumber 7
name "vx_ref_s"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [57 60 62]
}
data {
id 62
ssIdNumber 15
name "ax_ref_s"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [57 61 63]
}
data {
id 63
ssIdNumber 18
name "gear"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [57 62 64]
}
data {
id 64
ssIdNumber 16
name "vx_int_s"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [57 63 65]
}
data {
id 65
ssIdNumber 8
name "controller"
scope PARAMETER_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [57 64 66]
}
data {
id 66
ssIdNumber 14
name "brake_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [57 65 67]
}
data {
id 67
ssIdNumber 17
name "dvx_int_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [57 66 0]
}
junction {
id 68
position [23.5747 49.5747 7]
chart 57
subviewer 57
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [57 0 0]
}
transition {
id 69
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
src {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
id 68
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 57
dataLimits [21.175 25.975 14.625 42.575]
subviewer 57
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [57 0 0]
}
instance {
id 70
machine 1
name "Longitudinal Controller1/Longitudinal Controller"
chart 57
}
chart {
id 71
machine 1
name "Powertrain System1/Lateral Controllers"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 72 0 0]
viewObj 71
ssIdHighWaterMark 15
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 8
disableImplicitCasting 1
eml {
name "powertrain_model_wrapper"
}
firstData 73
firstTransition 80
firstJunction 79
}
state {
id 72
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 71
treeNode [71 0 0 0]
superState SUBCHART
subviewer 71
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function [fxf_s, gear_next_s] = powertrain_model_wrapper(throttle_s, x_v6, gear_s, vehicle_parame"
"ters)\n\n [fxf_s, gear_next_s] = powertrain_model(throttle_s, x_v6, gear_s, vehicle_parameters.powertrain);\n"
" \nend"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 73
ssIdNumber 7
name "throttle_s"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [71 0 74]
}
data {
id 74
ssIdNumber 6
name "x_v6"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [71 73 75]
}
data {
id 75
ssIdNumber 14
name "gear_s"
scope INPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [71 74 76]
}
data {
id 76
ssIdNumber 4
name "fxf_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [71 75 77]
}
data {
id 77
ssIdNumber 8
name "vehicle_parameters"
scope PARAMETER_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [71 76 78]
}
data {
id 78
ssIdNumber 15
name "gear_next_s"
scope OUTPUT_DATA
machine 1
props {
array {
size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
isSigned 1
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
unit {
name "inherit"
}
}
dataType "Inherit: Same as Simulink"
linkNode [71 77 0]
}
junction {
id 79
position [23.5747 49.5747 7]
chart 71
subviewer 71
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [71 0 0]
}
transition {
id 80
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
src {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
id 79
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 71
dataLimits [21.175 25.975 14.625 42.575]
subviewer 71
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [71 0 0]
}
instance {
id 81
machine 1
name "Powertrain System1/Lateral Controllers"
chart 71
}
target {
id 82
machine 1
name "sfun"
description "Default Simulink S-Function Target."
linkNode [1 0 0]
}
}
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