Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres. (9th July 2012)

• Record Type: Journal Article
• Authors: Ping, Em Poh; Hudha, Khisbullah; Jamaluddin, Hishamuddin
• Is Part Of: International journal of vehicle autonomous systems. Volume 10:Number 1/2(2012)
• Page Start: 67
• Page End: 104
• Publication Date: 2012-07-09
• Subjects: HILS -- hardware-in-the-loop simulation -- SILS -- software-in-the-loop simulation -- DLC -- double lane change -- sine steer -- automatic steering -- driver model -- steering kinematic; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

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 inner-loop controllers were evaluated by simulation using ISO Double Lane Change (DLC) and sine steer manoeuvres. Both of the controller's 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.