Title: Hardware-in-the-loop simulation of automatic steering control for double lane change and sine steer manoeuvres

Authors: Em Poh Ping; Khisbullah Hudha; Hishamuddin Jamaluddin

Addresses: Faculty of Engineering and Technology, Multimedia University, Jalan Ayer Keroh Lama, Bukit Beruang, 75450 Melaka, Malaysia ' Department of Mechanical Enginerring, Faculty of Engineering, University of Widyagama Malang, Jl. Borobudur 35, Malang, Jawa Timur 65128, Indonesia ' Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (UTM), 81310 UTM Skudai, Johor, Malaysia

Abstract: 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.

Keywords: HILS; hardware-in-the-loop simulation; SILS; software-in-the-loop simulation; DLC; double lane change; sine steer manoeuvres; automatic steering; driver modelling; steering kinematics; vehicle models; vehicle lateral control; lateral path manoeuvres.

DOI: 10.1504/IJVAS.2012.047695

International Journal of Vehicle Autonomous Systems, 2012 Vol.10 No.1/2, pp.67 - 104

Received: 24 Feb 2010
Accepted: 14 Oct 2010

Published online: 31 Dec 2014 *

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