04 Steering And Turning Vehicles - Department of Mechanical ...

Example: a double lane change using simple bicycle model
Using the stable case for the
‘simple_bicycle’ model, an
‘open loop’ lane change is
achieved by:
(put right into function file):
% double lane change
if (t=1 & t=2 & t=3 & t=4 & t=5 & t=6) deltaf = 0; end;
ME 360/390 – Prof. R.G. Longoria
Vehicle System Dynamics and Control
1
0.5
0
-0.5
Lateral Velocity
-1
0 2 4 6 8
6
4
2
0
Position
-2
0 50 100 150
0.4
0.2
0
-0.2
Yaw Velocity
-0.4
0 2 4 6 8
0.4
0.2
0
-0.2
Yaw
-0.4
0 2 4 6 8
Used: simple_bicycle_lanechange.m
Department of Mechanical Engineering
The University of Texas at Austin