ADAS_Functions_MATLAB

Matlab codes for ADAS functions

Hybrid A* Algorithm for Car Trailer System

Path optimization is not included and will be added further.

Similar path planning algorithms for a car pulling trailer are discussed by Habrador and Atsushi Sakai

The difference is that hitch point can be set not only at the midpoint of rear axle but also at the rear point of car body, more general for a car pulling a trailer.

Perpendicular parking

Parallel parking

Ref:

• Practical Search Techniques in Path Planning for Autonomous Driving

• Application of Hybrid A* to an Autonomous Mobile Robot for Path Planning in Unstructured Outdoor Environments

Path Tracking for Car Trailer System

Here the modus operandi of exact input/output linearization technique is used to calculate the steering wheel angle.

Straight Path Tracking

Circle Path Tracking

Ref:

• Reversing the General One-Trailer System: Asymptotic Curvature Stabilization and Path Tracking

Path Tracking For Car By Using Model Predictive Control

Two different state space equations are applied for path tracking.

Compared to steering angle, the steering angle rate as controlled signal can make system more stable. It can be found in following figures.

Steering angle as controlled signal

Steering angle rate als controlled signal

Ref:

• Obstacle Avoidance Using Adaptive Model Predictive Control

Path Tracking for Car Trailer System By Using nonlinear Model Predictive Control

Here nonlinear model predictive control is used to calculate the steering wheel angle.

Straight Path Tracking

Ref:

• Nonlinear model predictive controller

License

MIT

Author

• Junyu Zhou