*** DESCRIPTION OF DATA ***
This data supports the following paper:
Nash, C. J., & Cole, D. J. (2016). Modelling the effect of sensory dynamics on a driver’s control of a nonlinear vehicle. In Proceedings of the 13th International Symposium on Advanced Vehicle Control (AVEC 2016). Munich, Germany.
The data is hosted by the Cambridge University data repository, and is available at http://dx.doi.org/10.17863/CAM.595
Data is saved as .mat files, opened using MATLAB. The data was created using MATLAB version 2014b.
** Naming scheme **
The data files are named as follows:
'Results[OS/US]Cndtn[nCndtn]R[R]Ctrl[nCtrl]KF[nKF]Noise[nNoise].mat'
OS/US:
OS - Oversteering vehicle
US - Understeering vehicle
Condition number (nCndtn):
0 - L tyre, no disturbance
1 - NI tyre, no disturbance
2 - ND tyre, no disturbance
3 - L tyre, added disturbance
4 - NI tyre, added disturbance
5 - ND tyre, added disturbance
Corner radius (R):
Radius in metres, between 40 m and 80 m
Controller number (nCtrl):
0 - L0
1 - LP0
2 - LPF
3 - FNO
4 - LPF*
Kalman Filter number (nKF):
0 - LKF
1 - EKF1
2 - EKF2
3 - UKF
4 - FSF
Noise number:
0 - No noise
1 - With noise
** Data file contents **
Each data file contains the following signals:
alpha_f: Front tyre slip angle (rad)
alpha_r: Rear tyre slip angle (rad)
delta: Steering wheel angle (rad)
delta_hat: Plant input, becomes steering wheel angle when filtered by neuromuscular dynamics (rad*)
e: Path-following error
f_omega: Angular acceleration disturbance (rad/s^2)
f_v: Lateral acceleration disturbance (m/s^2)
SimulationTime: Time taken for simulation to run (s)
t: Time signal (s)
TotalCost: Total value of the cost function over the simulation
x: Vehicle x coordinate (m)
y: Vehicle y coordinate (m)
x_t: Target x coordinate (m)
y_t: Target y coordinate (m)