Jawad had created the next simulation case for lateral function. The simulation case describes the testing vehicle approaching from behind towards the reference object (car/pedestrian). Simulation shows the testing vehicle kinematic maneuver (Smooth steering) when critical distance between testing vehicle and reference stationary object/Vehicle crosses threshold values. Planar differential vehicle was modeled in local reference frame, where the position, orientation, linear velocity and rotational velocity were defined in terms of right and left side wheels. The yaw angle, vertical distance and horizontal distance were used as the control variable for safe maneuver. The local planner position and velocity vectors were then transformed in Global Cartesian Coordinates. 3D visualization of the planar vehicle was represented by rectangular box; the straight road was represented by a fixed rectangular box; the sensor was represented by the single variable which calculate(ideally without uncertainty and faults) the distance between testing vehicle and stationary vehicle. The left and right tire constant velocity was provided to get the velocity and orientation at the center of the vehicle. Please click Simulation 3 to watch the video.
