Em Poh Ping, Khisbullah Hudha, Hishamuddin Jamaluddin
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 inner-loop controllers were evaluated by simulation using ISO Double Lane Change (DLC) and sine steer manoeuvres. Both of the controller's 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. Copyright © 2012 Inderscience Enterprises Ltd.
Faculty of Engineering and Technology, Multimedia University, Bukit Beruang, 75450 Melaka, Jalan Ayer Keroh Lama, Malaysia; Department of Mechanical Enginerring, Faculty of Engineering, University of Widyagama Malang, Malang, Jawa Timur - 65128, Jl. Borobudur 35, Indonesia; Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (UTM), 81310 UTM Skudai, Johor, Malaysia
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