Path tracking for unintended roadway departure

Loi, Kelvin Hui Kok (2021) Path tracking for unintended roadway departure. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Unintended roadway departure (URD) has been one of the main causes of traffic fatalities. New technologies such as autonomous steering that automatically detect departure from the lane and provide interventions could help prevent unintended roadway departure. This study is aimed at developing and evaluating the effectiveness of a path tracking controller for unintended road departure. To achieve this, a path tracking controller is designed which comprises feedforward, feedback, and yaw controllers. A 2-DOF vehicle model with a Brush'tire model is implemented as the control system plant. The lane-keeping controller is built and simulated using MATLAB Simulink. From the result, the cornering force increases with increasing friction coefficient due to the increased contact stresses because of tire deformation. The controller's performance is evaluated using various velocities. The result shows that the controller's can track the desired path with relatively small lateral error with an increasing velocity. As velocity increases, the maximum absolute tire force usage increases due to the higher centrifugal force. Maximum absolute lateral error, heading error, and yaw rate error also increases with increasing velocity. We can conclude that as velocity increase, the ability for the controller to track the path decrease.

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