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.
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.
State Fields
| Field | Type | Description |
|---|---|---|
virtual | table | Calculated values for speed, bodySlipAngle, and wheelSpeed. |
trustWorthiness | table | Confidence levels (0..1) for various estimated states based on sensor noise and vehicle conditions. |
Public API
| Function | Description |
|---|---|
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 |
|---|---|
initLastStage() | Calculates the offset between the reference sensor node and the vehicle's CoG for rotation compensation. |
update(dt) | Primary state estimation loop. Compensates raw accelerations for rotation and integrates them to find true speed and slip angle. |
updateFixedStep(dt) | Updates confidence metrics and checks for reset criteria (e.g., if the vehicle is stopped or rolling straight). |
module.updateGFX(dt) | Per-frame update for visual state and UI synchronization. |
See Also
- Sensor Hub — Physical sensor aggregation
- Vehicle Data — Processed vehicle state
- CMU — Parent control management unit
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.
Traction Control Supervisor
Advanced traction control system (TCS) that monitors wheel slip and coordinates multiple actuators to maintain traction. Can reduce engine torque, apply individual wheel brakes, and adjust differential settings to prevent wheelspin during acceleration.