Smooth Transition Issue Between Speed Profile and IPGDriver in Multi-Step Maneuver

1

Hello everyone,

I am running a simulation in CarMaker with the following three-step maneuver:

  1. ACC Active – Motion controlled by IPGDriver
  2. ACC Inactive – Input from file, motion follows a speed profile
  3. ACC Active Again – Motion returns to IPGDriver

The issue I am facing is that when switching from step 2 (speed profile) to step 3 (IPGDriver), I experience significant acceleration and deceleration, leading to an abrupt transition.

Has anyone encountered a similar issue? Are there any best practices or settings to ensure a smooth transition when switching back to IPGDriver control?

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2

Hi Yassine,

Just to clarify, if you have the ACC active in Minimaneuvre (0 & 2), the longitudinal dynamics are controlled by the ACC and Acc Controller. IPG driver is only controlling the lateral dynamics (If set to do so).

Between MiniManeuvrre 1 & 2 you might be creating a discontiniuty. Are you also setting a DesireSpd when you active the ACC again? What is the IFF speed set at that point?