MV-8002：複数の運転操作イベント

このステップでは、車両のパラメータを指定します。

このイベントを3つの運転操作でモデル化します。

1. 任意のテキストエディターを開き、以下のテキストをコピーペーストします。重要：
   重要: ファイルを保存する前に、すべての空白行を削除する必要があります。

   ADFに何が書かれているかをより良く理解するために、コメントをよく読んでください。

   $-----------------------------------------------------------------ALTAIR_HEADER
   [ALTAIR_HEADER]
   FILE_TYPE 		= 'ADF'
   FILE_VERSION 	= 1.0
   FILE_FORMAT 	= 'ASCII'
   $--------------------------------------------------------------------------UNITS
   [UNITS]
   (BASE)
   {length  force      angle       mass    time}
   'meter'   'newton'   'radians'   'kg'    'sec'
   $--------------------------------------------------------------VEHICLE_IC
   [VEHICLE_INITIAL_CONDITIONS]
   VX0 	= -17.5
   VY0 	= 0.0
   VZ0 	= 0.0
   $--------------------------------------------------------------STEERING_STANDARD
   [STEER_STANDARD]
   $Upper and lower bounds are kept to match the event requirement of saturating at 
   $270 deg and -540 deg respectively
   MAX_VALUE 	        =  4.712 
   MIN_VALUE 	        =  -9.425
   SMOOTHING_FREQUENCY = 5 
   INITIAL_VALUE       = 0.0
   $--------------------------------------------------------------THROTTLE_STANDARD
   [THROTTLE_STANDARD]
   MAX_VALUE           = 1
   MIN_VALUE           = 0
   SMOOTHING_FREQUENCY = 5
   INITIAL_VALUE       = 0.0
   $---------------------------------------------------------------BRAKING_STANDARD
   [BRAKE_STANDARD]
   MAX_VALUE           = 1
   MIN_VALUE           = 0
   SMOOTHING_FREQUENCY = 5
   INITIAL_VALUE       = 0.0
   $-----------------------------------------------------------------MANEUVERS_LIST
   [MANEUVERS_LIST]
   {name  		simulation_time         h_max   	print_interval}
   'GO_STRAIGHT'        		2.0     		0.01		0.1
   'LEFT_TURN'                 	12.0		0.001		0.1
   'RIGHT_TURN'              	10.0		0.001       	0.1
   [GO_STRAIGHT]
   TASK = 'STANDARD' 
   (CONTROLLERS)
   {DRIVER_SIGNAL  PRIMARY_CONTROLLER	ADDITIONAL_CONTROLLER}
    STEER	OL_CONSTANT_STEER           	NONE
    THROTTLE	FEED_FORWARD_TRACTION       	NONE
    BRAKE	FEED_FORWARD_TRACTION       	NONE
   $---------------------------------------------------------------------MANEUVER_2
   [LEFT_TURN] 
   TASK = 'STANDARD' 
   (CONTROLLERS)
   {DRIVER_SIGNAL  PRIMARY_CONTROLLER	ADDITIONAL_CONTROLLER}
    STEER	OL_LEFT_STEER            		NONE
    THROTTLE	FEED_FORWARD_TRACTION		NONE
    BRAKE	FEED_FORWARD_TRACTION		NONE
   $We want to end the maneuver if the roll rate reaches steady state i.e. d(Roll rate)/dt = 0 
   $(tolerance = 0.005) for 0.5 seconds
   (END_CONDITIONS)
   {SIGNAL                GROUP  ABS  OPERATOR  VALUE  TOLERANCE  WATCH_TIME}
    ROLL_RATE           0	        	Y       SS      	 	0           0.005		0.5
   $---------------------------------------------------------------------MANEUVER_3
   [RIGHT_TURN] 
   TASK = 'STANDARD' 
   (CONTROLLERS)
   {DRIVER_SIGNAL  PRIMARY_CONTROLLER	ADDITIONAL_CONTROLLER}
    STEER	OL_RIGHT_STEER            	NONE
    THROTTLE	FEED_FORWARD_TRACTION	NONE
    BRAKE	FEED_FORWARD_TRACTION	NONE
   $--------------------------------------STEER for Maneuver 1
   [OL_CONSTANT_STEER]
   TAG = 'OPENLOOP'
   TYPE = 'CONSTANT'
   VALUE = 0 
   $--------------------------------------STEER for Maneuver 2
   $Ramp up the steering wheel @ 360 deg per send
   [OL_LEFT_STEER]
   TAG = 'OPENLOOP'
   TYPE = 'EXPRESSION'
   SIGNAL_CHANNEL = 0
   EXPRESSION = '{STEER_0} + {%TIME}*PI*2'
   $--------------------------------------STEER for Maneuver 3
   [OL_RIGHT_STEER]
   TAG = 'OPENLOOP'
   TYPE = 'EXPRESSION'
   SIGNAL_CHANNEL = 0
   EXPRESSION = '{STEER_0} - {%TIME}*PI*2'
   $--------------------------------------THROTTLE and BRAKE controller for entire event
    [FEED_FORWARD_TRACTION]
   TAG             = 'FEEDFORWARD'
   TYPE            = 'FOLLOW_VELOCITY'
   LOOK_AHEAD_TIME = 0.5
   DEMAND_SIGNAL   = 'DEMAND_VEL'
   $----------------Demand Velocity
   [DEMAND_VEL]
   TYPE            = 'CONSTANT'
   VALUE           = 17.5

2. シミュレーションを実行します。
3. 結果を検証します。
   運転操作 2は、ロール変化率が0.5秒の間、一貫して0 （表記のトレランスで）であると停止します。

   図 3.