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Requirement

Development of plant and controller models for an autonomous vehicle and perform the Software in Loop (SIL) testing.

System Overview

The autonomous vehicle runs in guided as well as manual mode. The vehicle runs based on the magnets fit in the road. In guided mode

• Vehicle speed and path is decided by the GPS and saved route data.
• Vehicle path is given by the controller based on the magnetic sensor which detects the magnets in the road and gives the error calculated.
• Steering input is taken from the servo controller and hence do not require any steering input from the driver. Vehicle goes into manual mode when a steering input from the driver is detected. The servo drive provides the steering torque required.
• Controller requires throttle input from the driver.

In manual mode

• Vehicle runs as it runs in guided mode but takes steering input from the driver instead of the controller.

Implementation

• Plant Model development in Trucksim
• Develop a Trucksim plant model including vehicle dynamics and inbuilt powerplant
• Create interfaces with Simulink using VS commands
• Controller Model development in Simulink
• Developing the steering controller for the vehicle to run in guided mode and manual mode
• Sensors and Actuators Modelling in Simulink
• Developing the place holders for sensors and actuators for the vehicle in Simulink

Testing and Validation

• Plant model developed in vehicle simulation environment is imported to Simulink as a library.
• Controller is tested in loop with the plant for different routes and speed profiles.
• Controller is tested for different fault modes of the system using GUI VisualConnex

Tools

• Matlab and Simulink
• Trucksim
• VisualConnex