AMME3500/9501 : System Dynamics and Control - MATLAB Assignment

Internal Code: MAS3594

MATLAB Assignment:

There has been an increasing interest in autonomous vehicles, owing to their exciting implications in terms of economic benefits and improvement of working environments. Although numerous perception, planning and control algorithms are involved, a fundamental requirement is to track a road through the steering. For this project, we will consider changing lanes autonomously through the steering. For simplicity, you may consider the ’kinematic’ model of a steered vehicle, also known as the bicycle model. This is shown in Figure 1. The kinematic equations are as follow. x ? = V cos(? + ?) y ? = V sin(? + ?) ? ? =V/lr sin(?) tan(?) = lr/lf + lr tan(?f ) Your task is to design a steering controller that allows the vehicle to change lanes, and to track a lane stably. The design must satisfy the following requirements: • The vehicle will use a cruise control to drive at a nominal velocity of 60km/hr. • The vehicle must be able to change lanes when prompted. • During lane changes, the vehicle must not intrude other lanes. • Your mechatronic engineering team has provided you with an electrically actuated steering mechanism. The imperfection of this actuator must be accounted for. • The steering angle (?f ) has a physical limit of ±10? Question: • Generate a model of the steering actuator experimentally. You may want to consider using sine-wave inputs and estimating a model from the resulting outputs. • Derive a linearized model of the equation of motion. Hint: You may want to use a suitable nonlinear coordinate change to simplify the process. • Design a controller for the requirement, using the method of your choice. • Bonus: Because our coordinate frame is with respect to the world, it is difficult to consider more complicated scenarios such as cornering. Consider attaching the coordinate frame to the road, so that the x-axis is tangential to the road. Considering road variations as disturbance input, design a controller to maintain the road centre. • Prepare a technical report of professional standard. This will be presented to other engineers working on the project.