Function __solver_fb_acc_profile

Function Documentation

arma::vec __solver_fb_acc_profile(const arma::cube &p_ggv, const arma::mat &ax_max_machines, double v_max, const arma::vec &radii, const arma::vec &el_lengths, const arma::vec &mu, arma::vec &vx_profile, double drag_coeff, double m_veh, double dyn_model_exp = 1.0, bool backwards = false)

Not to be called outside of the speed profile source code. Calculate the speed profile of the raceline either by forward acceleration or backwards deceleration.

Parameters:

  • p_ggv – ggv-diagram to be applied: [vx, ax_max, ay_max]. Velocity in m/s, accelerations in m/s2. Copied for each point of the raceline.

  • ax_max_machines – longitudinal acceleration limits by the electrical motors: [vx, ax_max_machines]. Velocity in m/s, accelerations in m/s2.

  • v_max – maximum velocity in m/s.

  • radii – curvature of every point in the raceline in radii.

  • el_lengths – lenghts of every segment of the raceline.

  • mu – friction coefficients.

  • vx_profile – current velocity profile.

  • drag_coeff – drag coefficient including all constants: drag_coeff = 0.5 * c_w * A_front * rho_air

  • m_veh – vehicle mass in kg.

  • dyn_model_exp – exponent used in the vehicle dynamics model.

  • backwards – true for backwards deceleration, false otherwise.

Returns:

arma::vec the speed profile.