Vehicle Data Processor
Processes raw sensor inputs into derived vehicle state data — speed estimates, slip angles, weight transfer, and dynamic load calculations. Provides the foundation data that supervisors use for intervention decisions.
Processes raw sensor inputs into derived vehicle state data — speed estimates, slip angles, weight transfer, and dynamic load calculations. Provides the foundation data that supervisors use for intervention decisions.
State Fields
| Field | Type | Description |
|---|---|---|
vehicleStats | table | Metadata including wheelBase, mass, inertiaZ, and characteristicSpeed. |
wheelAccess | table | Map of physical wheel objects for the four primary corners. |
turningCircleSpeedRatios | table | Multipliers for individual wheel speeds based on the current turning radius. |
Public API
| Function | Description |
|---|---|
calculateCharacteristicSpeed() | Computes the understeer/oversteer characteristic based on mass distribution and tire stiffness. |
registerCMU(cmu) | Links to the CMU. |
module.setDebugMode(debugEnabled) | Sets the debug mode. |
module.shutdown() | Shuts down the module and cleans up resources. |
Hooks
| Hook | Description |
|---|---|
initSecondStage(jbeamData) | Identifies corner wheels and calculates static vehicle geometry (axle distances, CoG). |
update(dt) | Continuously calculates the theoretical turning circle and wheel speed ratios. |
module.reset() | Resets the controller to its initial state. |
module.updateGFX(dt) | Per-frame update for visual state and UI synchronization. |
See Also
- Sensor Hub — Raw sensor data aggregation
- Virtual Sensors — Software-derived values
- CMU — Parent control management unit
Sensor Hub
Central aggregation point for all driving dynamics sensor data. Collects and normalizes readings from wheel speed sensors, accelerometers, gyroscopes, and steering angle sensors into a unified data structure consumed by supervisors.
Virtual Sensors
Software-derived sensor values computed from physical sensor data. Estimates quantities that aren't directly measured, such as body slip angle, tire slip ratios, and surface friction estimates using observer/estimator algorithms.