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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2012
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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 |
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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 |
13.251813 |