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v2p16. Compatible with MF-Swift v2312, MATLAB Online compatible.
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‎.SimulinkProject/Root.type.EntryPoints/f25bd945-366a-4a74-850b-d4504197d777.type.EntryPoint.xml renamed to ‎.SimulinkProject/Root.type.EntryPoints/22f13622-3e73-457c-876e-53fa211fb695.type.EntryPoint.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<Info Type="Basic" GroupUUID="3938fbca-90f5-48cc-8294-fd0c0ecd2fdc" Visible="1" Icon="" File="Scripts_Data/Simscape_Vehicle_Library_Demo_Script.html" Name="Demo Script" />
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<Info Type="Basic" GroupUUID="3938fbca-90f5-48cc-8294-fd0c0ecd2fdc" Visible="1" Icon="" File="Scripts_Data/Simscape_Vehicle_Library_Demo_Script_web.m" Name="Demo Script" />

‎.SimulinkProject/Root.type.EntryPoints/8fb87fa1-2a75-426a-94fc-317f002f4b37.type.EntryPoint.xml renamed to ‎.SimulinkProject/Root.type.EntryPoints/4cc61e64-f391-4f55-8bb1-c53d0df9fa64.type.EntryPoint.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<Info Type="Basic" GroupUUID="3938fbca-90f5-48cc-8294-fd0c0ecd2fdc" Visible="1" Icon="" File="Libraries/sm_car_doc/sm_car_doc_overview.html" Name="Templates" />
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<Info Type="Basic" GroupUUID="3938fbca-90f5-48cc-8294-fd0c0ecd2fdc" Visible="1" Icon="" File="Libraries/sm_car_doc/sm_car_doc_overview_web.m" Name="Templates" />

‎.SimulinkProject/Root.type.EntryPoints/08d7a61a-471c-4dfa-9722-8df6f4352ec3.type.EntryPoint.xml renamed to ‎.SimulinkProject/Root.type.EntryPoints/58507735-c084-488d-a7bc-9a57543af501.type.EntryPoint.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<Info Type="Basic" GroupUUID="3938fbca-90f5-48cc-8294-fd0c0ecd2fdc" Visible="1" Icon="" File="Workflows/Exercises/Overview/Simscape_Vehicle_Templates_Exercises.html" Name="Exercises" />
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<Info Type="Basic" GroupUUID="3938fbca-90f5-48cc-8294-fd0c0ecd2fdc" Visible="1" Icon="" File="Workflows/Exercises/Overview/Simscape_Vehicle_Templates_Exercises_web.m" Name="Exercises" />

‎.SimulinkProject/Root.type.Files/Libraries.type.File/Vehicle.type.File/Tire.type.File/MFSwift.type.File/MFSwift_2312.type.File.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<Info>
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<Label UUID="28727d18-c61e-4ad0-97da-d16cf001687d" />
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</Info>

‎.SimulinkProject/Root.type.Files/Libraries.type.File/Vehicle.type.File/Tire.type.File/MFSwift.type.File/MFSwift_2312.type.File/1.type.DIR_SIGNIFIER.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<Info />

‎.SimulinkProject/Root.type.Files/Libraries.type.File/Vehicle.type.File/Tire.type.File/MFSwift.type.File/MFSwift_2312.type.File/Tire_MFSwift.slx.type.File.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<Info>
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<Category UUID="FileClassCategory">
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<Label UUID="28727d18-c61e-4ad0-97da-d16cf001687d" />
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</Info>

‎.SimulinkProject/Root.type.Files/Libraries.type.File/sm_car_doc.type.File/sm_car_doc_overview_web.m.type.File.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<Info>
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<Category UUID="FileClassCategory">
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<Label UUID="28727d18-c61e-4ad0-97da-d16cf001687d" />
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</Category>
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</Info>

‎.SimulinkProject/Root.type.Files/Scripts_Data.type.File/Simscape_Vehicle_Library_Demo_Script_web.m.type.File.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<Info>
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<Category UUID="FileClassCategory">
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<Label UUID="28727d18-c61e-4ad0-97da-d16cf001687d" />
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</Category>
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</Info>

‎.SimulinkProject/Root.type.Files/Workflows.type.File/Exercises.type.File/Overview.type.File/Simscape_Vehicle_Templates_Exercises_web.m.type.File.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<Info>
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<Category UUID="FileClassCategory">
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<Label UUID="28727d18-c61e-4ad0-97da-d16cf001687d" />
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</Category>
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</Info>

‎.SimulinkProject/Root.type.References/4c28f4d9-34cf-4182-ad54-ec577e6e85ad.type.Reference.xml renamed to ‎.SimulinkProject/Root.type.References/597c8dea-f235-4bfb-a028-14dd29842c39.type.Reference.xml

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‎.SimulinkProject/Root.type.References/6b45d351-c078-422b-962f-de0598dba92d.type.Reference.xml renamed to ‎.SimulinkProject/Root.type.References/a411a0ff-6d80-4fd4-bc7b-eb2dc47a58d2.type.Reference.xml

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‎Libraries/Event/Scene/Double_Lane_Change/Double_Lane_Change_trajectory_default.mat

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‎Libraries/Event/Scene/Double_Lane_Change/sm_car_scenedata_double_lane_change.m

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function scene_data = sm_car_scenedata_double_lane_change
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%% Floor and Grid parameters
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% Copyright 2018-2021 The MathWorks, Inc.
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% Copyright 2018-2022 The MathWorks, Inc.
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scene_data.Name = 'Double_Lane_Change';
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scene_data.Dashes.pitch = 7.5; % m
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scene_data.Road.clr = [1 1 1]*0.5; % [R G B]
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scene_data.Road.opc = 1; % (0-1)
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scene_data.Road.x = 218.4; % m
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scene_data.Road.y = -1.2; % m
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% Adjustments due to Unreal scene change in R2022b
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if(verLessThan('matlab','9.13'))
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scene_data.Road.y = -1.2; % m
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else
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scene_data.Road.y = -1.2-2.5; % m
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end
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scene_data.Road.z = 0; % m
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scene_data.Road.roll = 0*pi/180; % rad
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scene_data.Road.pitch = 0*pi/180; % rad

‎Libraries/Event/Scene/Double_Lane_Change/sm_car_trajectory_double_lane_change.m

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function sm_car_trajectory_double_lane_change
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% Function to construct double-lane change maneuver
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% Copyright 2018-2021 The MathWorks, Inc.
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% Copyright 2018-2022 The MathWorks, Inc.
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cd(fileparts(which(mfilename)))
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% Parameters for trajectory
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maneuver_lateral_offset = -3.35; % m
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% Adjustments due to Unreal scene change in R2022b
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if(verLessThan('matlab','9.13'))
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maneuver_lateral_offset = -3.35; % m
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else
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maneuver_lateral_offset = -3.35-2.5; % m
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end
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cone_set_lat_separation = 4.2; % m
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% Longitudinal gate locations (m)

‎Libraries/Event/sm_car_database_Maneuver.xlsx

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‎Libraries/Event/sm_car_gen_init_database.m

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% Define vehicle-level initial conditions for maneuvers
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% Vehicle position, orientation, initial speed, initial wheel speed
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%
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% Copyright 2019-2020 The MathWorks, Inc.
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% Copyright 2019-2022 The MathWorks, Inc.
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%% Vehicle-level data
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% Vehicle Name #Axles Wheel Radius (m) Init Z-Offset (m)
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%% Scene Double Lane Change, Slow Start
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InitSet.Double_Lane_Change.Type = 'Double_Lane_Change';
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InitSet.Double_Lane_Change.Instance = '';
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% Adjustments due to Unreal scene change in R2022b
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if(verLessThan('matlab','9.13'))
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sChassisY = -3.35;
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else
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sChassisY = -3.35-2.5;
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end
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InitSet.Double_Lane_Change.Data = {...
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'aChassis','rad', 0, 0, 0;
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'vChassis','m/s', 2.5, 0, 0;
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'sChassis','m', 5, -3.35, 0};
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'sChassis','m', 5, sChassisY, 0};
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%% Scene Double Lane Change, Slow Start
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InitSet.Double_Lane_Change_ISO3888.Type = 'Double_Lane_Change_ISO3888';

‎Libraries/Vehicle/Tire/MFSwift/MFSwift_2312/Tire_MFSwift.slx

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‎Libraries/sm_car_doc/sm_car_doc_overview_web.m

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web('sm_car_doc_overview.html')

‎README.md

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3. Modify parameter values in the "Vehicle" data structure in the MATLAB workspace.
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### **Release History**
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**v2.16 -- April 2024**
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1. Compatible with MF-Swift v2312
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2. Adjusted double-lane change to match Unreal scene (R2022b and higher)
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3. Made project shortcuts compatible with MATLAB Online
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4. Fixed capitalization error in sm_car_database_Maneuver.xlsx (...Hockenheim_F_ --> Hockenheim_f_)
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**v2.15 -- March 2024**
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1. Compatible with R2024a. Updated scripts to run with Fast Restart
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**v2.15 -- September 2023**
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1. Mass and inertia of driver and passengers are adjustable
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2. Added test harness to check driver and passenger mass

‎Scripts_Data/Simscape_Vehicle_Library_Demo_Script_web.m

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web('Simscape_Vehicle_Library_Demo_Script.html')

‎Scripts_Data/sm_car_startupMFSwift.m

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library_path = [curr_proj.RootFolder filesep 'Libraries' filesep 'Vehicle' filesep 'Tire' filesep 'MFSwift' filesep 'MFSwift_2212'];
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elseif(mfswift_ver==2306)
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library_path = [curr_proj.RootFolder filesep 'Libraries' filesep 'Vehicle' filesep 'Tire' filesep 'MFSwift' filesep 'MFSwift_2306'];
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elseif(mfswift_ver==2312)
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library_path = [curr_proj.RootFolder filesep 'Libraries' filesep 'Vehicle' filesep 'Tire' filesep 'MFSwift' filesep 'MFSwift_2312'];
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end
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addpath(library_path);
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% Add opencrg tools to path
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library_path = [curr_proj.RootFolder filesep 'Libraries' filesep 'Vehicle' filesep 'Tire' filesep 'MFSwift' filesep 'MFSwift_2212'];
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elseif(mfswift_ver==2306)
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library_path = [curr_proj.RootFolder filesep 'Libraries' filesep 'Vehicle' filesep 'Tire' filesep 'MFSwift' filesep 'MFSwift_2306'];
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elseif(mfswift_ver==2312)
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library_path = [curr_proj.RootFolder filesep 'Libraries' filesep 'Vehicle' filesep 'Tire' filesep 'MFSwift' filesep 'MFSwift_2312'];
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end
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if(isempty(library_path))
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warning('off','backtrace')

‎Workflows/Exercises/Overview/Simscape_Vehicle_Templates_Exercises_web.m

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web('Simscape_Vehicle_Templates_Exercises.html')

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