Design of an Automobile's Lateral Control

Abstract

This study proposes the design of a car's lateral control using MATLAB software. The controller's design aids in obtaining the intended simulation outcomes. mistakes including heading angle and cross-track (lane keeping) errors. To maximize performance, data from a human-driven automobile is also collected and compared with the preset data. When tires advance in a direction other than their intended direction, forces are applied to the front and rear axels of an automobile, causing lateral movement with respect to the vehicle. A scenario is generated in the program based on the movement of an automobile with respect to the reference path and the reference path. In accordance with the input, the lateral motion is detected and recorded (by changing heading angle or cross track course). The primary goal is to reduce the number of mistakes and maintain the vehicle's proximity to the reference line. Using the Driving Scenario Designer application included in the MATLAB package, the task can be simulated. With the help of controllers, we may alter the dynamics of the vehicle and mimic the state of the car by following a reference at all times in this designer. We can create a controller that takes into account all input we would like to have throughout the lateral motion, including the current velocity, lane curvature, reference velocities and positions, yaw rate, and steering angle. The analysis's result, which includes tables and graphs, can be examined.