Abstract

Autonomous vehicle have recently arouse great interest and attention in the academic worldwide because of their great potential. As the new features for driver assistance and active safety systems are growing rapidly in vehicles, the simulation within a virtual environment has become a necessity. A vehicle model is required to represent the vehicle behaviour as close as real vehicle in simulation software. This paper presents 9 DOF vehicle models which consist of handling and Calspan tire model develop in Matlab Simulink environment to study the vehicle behaviour for double lane change (DLC) and step steer input test. Those criteria will be compared with validated vehicle software namely CarsimEd to evaluated the performance of the vehicle model involving lateral acceleration, yaw angle and yaw rate from both output. Results show the 9 DOF vehicle closely follows the CarsimEd trends with acceptable error at both conditions.

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<span>This paper proposed the prototype of smart car parking powered by photovoltaic. There is probability that cars will hit the wall or car out from the parking lot. The main objectives of this research are to determine the power rating and sizing of PV panel suitable for smart car parking system and design an ultrasonic parking sensor circuit to alert any obstacle while parking and development the prototype of smart car parking using PV. Smart car parking consists of distance sensors, LED, Arduino UNO potentiometer, resistors, and Node MCU. Where, Arduino UNO as a microcontroller was coding to receive the signal from the sensor and transmit signal to LED to display the car distance condition. To measure the distance between sensor positions to a car, HC-SR04 ultrasonic distance sensor is used. Whenever a car come near to the sensor within range specified, the red, yellow or green LED will light up and send the condition happening to the smartphone application. The application build-up can display the real situation and the PV system can supply enough electricity to the smart car parking. </span>

This paper presents a control strategy for controlling speed of a vehicle experiencing the disturbance from road gradient using simulation method. A non-linear vehicle longitudinal model is used for modeling the vehicle behavior in longitudinal direction and the vehicle is subjected to several positive (uphill) road gradient disturbances. The gain scheduling Proportional-Integral-Derivative (PID) controller is proposed to achieve the control objective. MATLAB-SIMULINK is chosen as a simulation tool to simulate the vehicle dynamics behavior and evaluate the performance of the control structure. The result shows that the proposed controller is effective in controlling the vehicle speed with relatively lower speed drop. The controller performance is far better than the fixed gain PID controller.