Modelling And Simulation Of Lane Keeping Control System

Hussin, Hazwan (2020) Modelling And Simulation Of Lane Keeping Control System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Modelling And Simulation Of Lane Keeping Control System.pdf - Submitted Version Download (358kB)

Abstract

The automotive sector is one of the world's leading industries. This industry now is toward a revolution from year to year. The automotive industry consists of many companies and organizations engaged in vehicle design, development, distribution, commercialization, and sales. For autonomous vehicles it is beginning to attract many automakers to make changes of technology and to be at a more advanced level. One of the technologies of autonomous vehicle is a lane keeping control system (LKS) which to keep the vehicle from exit the lane of the road. This system helps to prevent a collision or in an emergency situation. For the objective of this study is to create a mathematical model for the vehicle handling dynamics and to design the lane keeping control system by using PID controller. The scope of this study is to develop a non-linear vehicle handling dynamic model by using MATLAB and Simulink as well as to design the control strategy for lane keeping system. This study is uses two degree of freedom (2DOF) of bicycle model and nonlinear tire model as its vehicle system model to analyze the behavior of vehicle system. The simulation takes place in the MATLAB and Simulink constructs the mathematical model. In this contribution the mathematical modeling of a vehicle equipped with a lane keeping control system is considered. Therefore, the modeling considers the steering model of the vehicle and the vehicle itself as a bicycle model. In this study there are three major components need to be conducted to verify the vehicle system. The first one is the equation of vehicle model which is in this project its use the bicycle model. In the vehicle model there are two parameters need to consider which is the side slip angle and yaw rate. Second is the tire model itself, by combining the tire model and vehicle model, the performance of the vehicle can be determined for side slip angle and yaw rate. Third, is the controller that are using in this study which is the PID controller. The controller take place in the vehicle system is to tune up the control structure of the vehicle and to find a good model structure to perform in the simulation. The graph of the vehicle system will show the behavior of the vehicle after running the simulation. This study concludes by summarizing all the results from vehicle model and the controller.

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