Driver Outputs

Driver Outputs
F2
Steering angle output of the Driver
F3
Throttle output of the Driver
F4
Brake output of the Driver
F6
Gear output of the Driver
F7
Clutch V
F8
Unused
Driver Inputs (1)
F2
Vehicle CG (x) wrt Gyro
F3
Vehicle CG (y) wrt Gyro
F4
Yaw angle wrt Gyro
F6
Roll Angle
F7
Pitch Angle
F8
Unused
Driver Inputs (2)
F2
Longitudinal velocity wrt gyro
F3
Lateral velocity wrt gyro
F4
Yaw rate wrt gyro
F6
Roll rate
F7
Pitch rate
F8
Engine Speed (Only in case of manual transmission)
Driver Inputs (3)
F2
Longitudinal acceleration (wrt gyro)
F3
Lateral acceleration (wrt gyro)
F4
Unused
F6
Unused
F7
Unused
F8
Unused
Driver Requests - General
F2
Distance traveled
F3
Unused
F4
Unused
F6
Unused
F7
Unused
F8
Unused
Driver Requests – Long Control

(Feedforward traction control)

F2
Demand Signal (Acceleration/Velocity)
F3
Control Signal (Acceleration/Velocity)
F4
Error (Demand – Control Signal)
F6
Unused
F7
Unused
F8
Unused
Driver Requests - Steer Controller

(Feedforward steer control)

F2
Path x coordinate
F3
Path y coordinate
F4
Distance along centerline
F6
- Laps completed (Cars/Trucks)
- Demand path curvature (Two wheelers)
F7
Path Error
F8
Distance travelled
Driver Requests – Long Control Feedback

(PID traction control)

F2
Demand Signal (Acceleration/Velocity)
F3
Control Signal (Acceleration/Velocity)
F4
Error (Demand – Control Signal)
F6
Error derivative
F7
Error integral
F8
Unused
Driver Requests - Steer Control Feedback

(Two wheelers Steer control)

F2
Demand lean angle
F3
Vehicle lean angle
F4
Error
F6
Error derivative
F7
Error integral
F8
Steer output