Reference no: EM132459416

Simulink model need to be done in MATLAB by using the toolbox modules

Project - Collision avoidance static and dynamic obstacle at autonomous vehicles using MPC controller by using simulink

Need a simulink model of collusion avoidance module at Autonomous vehicles avoiding dynamic and static obstacles(with ego car and lead car). The vehicle dynamic model will be bicycle model. the controller will be one of the MPC from the toolbox.

The model has to satisfy 2 scenarios:

In first simulation, a vehicle, moving at 5m/s, was considered as the obstacle. The follower vehicle speed was fixed at 30m/s. Using a value of 2m.s-2 as maximum permissible lateral acceleration and the exponential desired trajectory, I want to see where the maneuver starts behind the obstacle. show lateral overlap, tracking error, tire steering input and lateral acceleration of the follower vehicle, respectively.

In second simulation, a vehicle moving at 25 m/s was considered as the obstacle. The follower vehicle was moving at 25m/s and at a distance of 25m behind the obstacle. At time t=3s the obstacle vehicle starts a deceleration of 8.33 m.s-2 and the follower vehicle starts a collision avoidance maneuver at the same time. show lateral motion, tracking error, tire steering input and lateral acceleration of the vehicle.

Attachment:- research.rar