Cover Image

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...

Full description

Saved in:
Bibliographic Details
Main Authors: Em, Poh Ping, Hudha, Khisbullah, Jamaluddin, Hishamuddin
Format: Article
Published: Inderscience Publishers 2012
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/id/eprint/33860/
http://dx.doi.org/10.1504/IJVAS.2012.047695
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.utm.33860
record_format eprints
spelling my.utm.338602018-11-30T06:39:05Z http://eprints.utm.my/id/eprint/33860/ Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres Em, Poh Ping Hudha, Khisbullah Jamaluddin, Hishamuddin TJ Mechanical engineering and machinery 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. Inderscience Publishers 2012-07 Article PeerReviewed 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) http://dx.doi.org/10.1504/IJVAS.2012.047695 Doi:10.1504/IJVAS.2012.047695
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Em, Poh Ping
Hudha, Khisbullah
Jamaluddin, Hishamuddin
Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres
description 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.
format Article
author Em, Poh Ping
Hudha, Khisbullah
Jamaluddin, Hishamuddin
author_facet Em, Poh Ping
Hudha, Khisbullah
Jamaluddin, Hishamuddin
author_sort Em, Poh Ping
title Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres
title_short Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres
title_full Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres
title_fullStr Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres
title_full_unstemmed Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres
title_sort hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres
publisher Inderscience Publishers
publishDate 2012
url http://eprints.utm.my/id/eprint/33860/
http://dx.doi.org/10.1504/IJVAS.2012.047695
_version_ 1643649452475416576
score 13.160551

Similar Items