Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres
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 cont...
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| Main Authors: | , , |
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| Format: | Article |
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Inderscience Publishers
2012
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/33860/ http://dx.doi.org/10.1504/IJVAS.2012.047695 |
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| Summary: | 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. |
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