Simulation of autonomous driving in following highway lane

Hairizal, Izz Fitri Haikal (2022) Simulation of autonomous driving in following highway lane. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

An autonomous vehicles are the future smart car that created to be driverless, efficient, and also crash avoiding ideal urban car of the future. Many studies have been made to realize the dream of an autonomous driving with many test of system. Solving the defect during the test run for the autonomous driving simulation will be difficult challenges. As many as the challenges appeared, the first challenge would be to design and customize the system and how the system is needed to be put on the appropriate location. Visible technologies that help an autonomous driving to be more effective are important components of Intelligent Transportation Systems. Many researcher, technologist, engineers, and commercial systems have been proposed in the literature. The derivation about the equation for the vehicle dynamics will help to give more exposure about how the vehicle can turns when reaching the curved road in theory as well as in calculation research. In this paper, the system for an autonomous will be discussed especially about how the system will help driver to reduce accident happened by avoiding collision and impact from possible angle to the vehicle. The lane detection and tracking and lane departure warning both have its own function. Other than that, this paper will also discuss how an autonomous driving vehicle system more advanced system such as lane keeping assist system performs in road lane. This study’s objective is to develop lane keeping assist (LKA) system to observe the behavior of the vehicle in highway lane. MATLAB Simulink software will be the platform for developing the system. Many block diagram from the library are used to develop the LKA system in the software such as lane keeping controller which link to the vehicle block diagram to synchronize the lane detection with the movement of the vehicle. The lane also developed in the software for curve road type. Furthermore, that simulation can be observed more clearly with highway speed of 100 km/h. The results present about the difference between the performance of the vehicle without enable the system and with enable the system according to safe lateral distance values. Safe lateral distance that is set from the controller in MATLAB Simulink software is 0.5 m until 2.0 m with interval of 0.5 m. The behavior of the vehicle includes the lateral deviation, relative yaw angle, and steering angle. These three behaviors show how the vehicle perform in highway lane and the comparison for each value of safe lateral distance.

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