Longitudinal-and-Lateral-Control-of-an-automotive-vehicle

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Longitudinal-and-Lateral-Control-of-an-automotive-vehicle

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This repository contains the Matlab code for the lateral and longitudinal control of vehicle modeled based on the Bicycle-Model. This work was carried out by me and my colleague Suleyman as part of the smart transportation course.

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# Longitudinal-and-Lateral-Control-of-an-automotive-vehicle

This Project deals with the longitudinal and lateral control of an automotive vehicle within the
framework of fully automated guidance. The automotive vehicle is a complicated system with
nonlinear longitudinal and lateral coupled dynamics. As a result, automated guidance must be
performed in conjunction with longitudinal and lateral control. In this lab, we examine a model
predictive control-based automated steering technique. To deal with the longitudinal speed
tracking problem, a longitudinal control technique is also proposed. Finally, a unified longitudinal
and lateral control strategy helps to improve the combined control performance. 
This whole control strategy is tested through simulations showing the effectiveness of the present approach for a path tracking task using the **Pure Pursuit algorithm**.

## Notice : 
 ###  :red_circle: The Included PDF contains the full details of the dynamic model used, the design of controllers and their assesment and performance analysis for different situations/conditions.

## This project includes: 
### Longitudinal Control : PI controller 
### Lateral Control: MPC controller 
### Complete non-linear dynamics control : PI + MPC
 
 ## Instructions
- run Init.m to initialize the simulink model 
- run the simulink simulation 
- run Init.m again to display the simulated trajectory with respect to the reference trajectory and re-initialize the simulink models

## Included Simulink models: 
- Full_control_with_fixed_reference_velocity : used to test the controller for a constant reference linear velocity
- Full_control_with_variable_reference_velocity : using a piecewise reference velocity depending on the shape of the track
- -MPC : the standalone MPC controller for later control

## Snippets 
- The complete control scheme :

![](https://raw.githubusercontent.com/souhaiel1/Longitudinal-and-Lateral-Control-of-an-automotive-vehicle/main/Images/combined_controller.PNG)

- The performance of the controller evaluated for a path tracking task using the PurevPursuit algorithm for a constant reference velocity of 50km/h, dry, smooth road:

![](https://raw.githubusercontent.com/souhaiel1/Longitudinal-and-Lateral-Control-of-an-automotive-vehicle/main/Images/50km.PNG)

- The performance of the controller evaluated for a path tracking task using the PurevPursuit algorithm for a constant reference velocity of 90km/h, dry, smooth road:

![](https://raw.githubusercontent.com/souhaiel1/Longitudinal-and-Lateral-Control-of-an-automotive-vehicle/main/Images/90km.PNG)

- Solving the problem by using adaptive ( variable/piecewise ) reference velocity:

![](https://raw.githubusercontent.com/souhaiel1/Longitudinal-and-Lateral-Control-of-an-automotive-vehicle/main/Images/traj_and_vel_tracking.PNG)

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