Hello,
Some time ago I integrated my own two-track model in CM4SL in the generic_uservehicle in order to run a driving simulator with it. Everything is already working wonderfully. The product example “SingleTrack model” also helped me a lot as a template to implement my own model in the same way. So the car I use is still the SingleTrack Car with slight modifications. I now wanted to implement the road sensor to determine the exact position of the vehicle on the track. The parameterisation is set so that “Along Route Reference Line” is selected, so that I then get the DevDist values for the Reference Line and Path Line. This setting also positions the sensor directly with “overrides sensor position”, according to the instructions in the centre of the front axle. Similar to how a lane departure warning system measures the vehicle’s position via the camera in real life.
If I add a road sensor to the SingleTrack Car, I either only get constant values or 0 is returned. The simulation clearly shows large lateral movements of the vehicle in the lane. If I swap my vehicle with a demo car plus the road sensor, the Simulink simulation runs on the IPG vehicle and the sensor works. Is the Road Sensor not compatible in my configuration, especially with the User Vehicle? In IPG Movie you can definitely see how the ball from road sensor moves along with the vehicle at the set preview distance. I really need to determine the lateral position of the vehicle in the lane. With the SingleTrack example CM4SL (testrun: Hockenheim_SingleTrack) you can easily reproduce this Problem.
Where could the error be? Where is the road sensor data calculated? Is an another sensor a opportunity? The alternative signals Vhcl.tRoad and Car.Road.sRoad do not work either. Unfortunately, I can’t find anything about this in the instructions.
Best regards,
Fabian