Direct Yaw Control allows the integration between MATLAB + Simulink and VI-CRT, generating the co-simulation results and correlating with the vehicle data.

Main code:

• dyc_dvlpmt.mlx

Auxiliary code:

• select_maneuvers_file.m
• import_vehicle_data.m
• vicrtsim_to_data.m
• calculate_correlation_time.m
• esc_actv_time.m
• plot_results.m

Simulink Model:

• vdc_dyc_v3.slx

VI-CRT files:

• 2261_VOLCANO_DYC_fp.xml
• flat_085.rdf

The workflow is explained below step-by-step:

(VI-CRT)

1. Load the vehicle model inside CI-CRT
2. Load the fingerprint inside VI-CRT* (2261_VOLCANO_DYC_fp.xml)

*Note: make sure the road selected has a friction coefficient equal to 0.85 (flat_085.rdf)

4. Run all the events on the fingerprint to generate the send files used as input in the co-simulation

(MATLAB)

4. Run dyc_dvlpmt.mlx*

*Note: Save the results in the desired Path before running again for another maneuver