An autonomous vehicle or a driverless vehicle is a ground vehicle that is capable
of sensing its environment and moving safely with little to no human input. The
present study aims to validate existing literature on vehicle following,
emergency braking, lane changing, overtaking, and jerk trajectory with regard to
autonomous vehicles. By using the jerk trajectory equation, we are able to
optimize it by implementing a complete overtaking procedure. We are also able to
compare the variation in both the dynamic and kinematic bicycle model for the
same vehicle and traveling the same distance. A new kinematic bicycle model is
built, which is more simple to construct.
This project is performed using MATLAB and Simulink for creating and modifying
the system blocks. There has also been an integration of 3D visualization
software such as VR sink and Unreal Engine. We construct the vehicles by simple
transfer functions, ACC and PID as the main system blocks for vehicles 1, 2, and
3, respectively. We also construct different driving modes, which are assigned
to vehicle 2 depending on the speeds of vehicles 1 and 2.
The comparison for both dynamic and kinematic bicycles has also been performed.
We see nearly a 16.67% variation in the Y direction due to the variation in
lateral forces between the two types of models. The jerk trajectory is validated
by graphical representation of its lateral position, speed, and acceleration.
The overtaking maneuver is visualized in Unreal Engine. The new kinematic
bicycle models has been validated by comparing with the in-built model. The
graphs indicate the accuracy of the model. Further work has to be done in
creating a complete traffic-based autonomous system.