Slalom
A Slalom event drives the vehicle in a straight, followed by a sequence of turns around cones in alternate directions with constant vehicle velocity.
![](../../images/post_processing/slalom_event_example.png)
Figure 1. Slalom Event
Parameter Name | Description |
---|---|
Units | Describes the Length, Velocity, and Acceleration units.
|
Initial straight | Initial straight distance before starting in the turn sequence. |
Cone spacing | Distance between cones placed longitudinally with respect to vehicle. |
Lateral displacement | Lateral distance of the vehicle desired path from the cones. |
Final straight | Straight distance section of the path after the turn sequence. |
Velocity | Desired speed of the vehicle. |
Number of cones | Number of cones placed in the path. |
Turn direction | Direction the vehicle turns during the event (as seen by the driver). |
Controller Settings
- Non-leaning events (Cars/Trucks)
- LONGITUDINAL – TRACTION CONTROLLER SETTINGS
- Use additional control: Enables the additional feedback control for the traction
control. The gains for the controller can be edited by toggling this check
box.
Kp Proportional gain for the feedback PID controller Ki Integral gain for the feedback PID controller Kd Derivative gain for the feedback PID controller
- Use additional control: Enables the additional feedback control for the traction
control. The gains for the controller can be edited by toggling this check
box.
- Leaning events (Two-wheelers)
- LONGITUDINAL – TRACTION CONTROLLER SETTINGS
- Use additional control: Enables the additional feedback control for the traction
control. The gains for the controller can be edited by toggling this check
box.
Kp Proportional gain for the feedback PID controller Ki Integral gain for the feedback PID controller Kd Derivative gain for the feedback PID controller
- Use additional control: Enables the additional feedback control for the traction
control. The gains for the controller can be edited by toggling this check
box.
Signal Settings
Use the signal settings to set minimum, maximum, smooth frequency and initial values for Steering, Throttle, Brake, Gear, and Clutch signals output by the driver.
The smoothing frequency is used to control how fast the Driver changes signals. Only closed loop control signals from the Driver are smoothed. Open loop signals are not smoothed.
Road Settings
- Flat Road
- Uses a flat smooth road for the event with no required road file.When the Flat Road is selected, the Graphics Setting option is available with the following parameters:
- View path centerline: Enables the visualization of the event path.
- This check box is disabled for open loop events without a path.
- View grid graphics: Enables the visualization of the road grid graphics.
- When view grid graphics check box is toggled, road grid parameters can be edited in the Grid Settings tab.
Grid length Defines the length of the road. Enter a positive value in the model units. Grid Width Defines the width of the road. Enter a positive value in the model units. Grid X offset Gives a distance offset to the road graphics in the longitudinal direction. Enter a positive value in the model units. Grid Y offset Gives a distance offset to the road graphics in the lateral direction. Enter a positive value in the model units.
- View path centerline: Enables the visualization of the event path.