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Design of Lateral Control of a Car

Jyoti Srivastava, Rohan Kr Singh, Suyash Krishnakanti, Sumit Kumar Singh

Abstract


In this paper design of lateral control of car with the help of MATLAB software is proposed. Design of controller helps us to get desired simulation results. Errors such as heading angle error and cross track error (lane keeping). Data is also obtained from a human driven car and is matched with the predefined data in order to optimize performance. The forces exerted on the front and back axel of an automotive when the tires advance in the direction of travel while having different heading direction drive lateral movement in reference with an automotive. Situation is created in the software in accordance with the reference path and the movement of a car with respect to the reference path. The lateral motion is observed and recorded according to the input (by changing heading angle or cross track path). The main task is to minimize the errors and to keep the car in close proximity with the reference line. By using MATLAB software, simulation of the task is possible by using Driving Scenario Designer application provided in the software. In this designer, we can simulate the condition of car following a reference at all points and change the vehicle dynamics by controllers. We can design a controller that takes all the input (current velocity, curvature of lane, reference velocities and position, yaw rate, steering angle) we want to consider during the lateral motion. Analysis can be checked by the output (i.e. graphs and tables), these can be exported in Simulink in MATLAB where we can program and optimize the program to our need.

 

Keywords: MATLAB, MPC, controller

 

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References


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