Em, Poh Ping and Hudha, Khisbullah and Jamaluddin, Hishamuddin (2012) Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres. International Journal of Vehicle Autonomous Systems, 10 (1-2). pp. 67-104. ISSN 1471-0226 (Print); 1741-5306 (Electronics)
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Official URL: http://dx.doi.org/10.1504/IJVAS.2012.047695
Abstract
This paper presents a 9-Degree of Freedom (DOF) vehicle model combined with a closed loop driver model for developing vehicle lateral control. The driver model was developed to control the steering angle and uses predefined path as a reference for the control input. The outer-loop and innerloop controllers were evaluated by simulation using ISO Double Lane Change (DLC) and sine steer manoeuvres. Both of the controllers Software-In-The-Loop Simulations (SILS) were validated through the Hardware-in-the-Loop Simulation (HILS). The SILS and HILS results show that the proposed driver model is capable of improving lateral path deviation error and lateral path manoeuvres significantly.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Double lane change, Driver model |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Mechanical Engineering |
| ID Code: | 33860 |
| Deposited By: | Fazli Masari |
| Deposited On: | 13 Sep 2013 07:14 |
| Last Modified: | 30 Nov 2018 06:39 |
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