SAE Update - May 2023 - 15

TECH FOCUS:
VEHiCLE DyNAMiCS AND NVH
the early 1980s to control the six-wheeled skid steer
" Terragator " and was subsequently refined over time
to the control method used today. The Stanley
controller is famous for being the lateral controller
method of choice for the first vehicle to complete the
DARPA Grand Challenge in 2005, where the vehicle
was able to avoid all 95 obstacles along the grueling
132-mile autonomous offroad race. This work
investigates the different driving scenarios in which
one controller may outperform the other, as well as
see how these controllers respond to different vehicle
settings. In theory, the Stanley controller should
outperform the Pure Pursuit controller as the former
considers angular and lateral error, while Pure Pursuit
is purely based on geometric evaluation [3]. However,
some experiments with both controllers have resulted
in Pure Pursuit yielding more favorable results than
Stanley.
This work utilizes MATLAB's Simulink software to
analyze and determine the relationships between the
controllable states of the vehicle and give graphical
results to compare plots against each other. For
example, by recording the g force versus time graph
of the Stanley and Pure Pursuit controllers and
overlaying them, the extremity of " jerk " can be
determined from the sudden spikes in data and
determine whether the model is pushing vehicle limits
or causing passenger discomfort. " Jerk " can help
automotive engineers deduce the character and
behavior of their cars.
By using known kinematic relationships between
controllable states along with data to support these
relationships deeper conclusions can be drawn about
the vehicle dynamics at play and will be able to shed
some insight into the passengers' experience as well
as performance of the system.
UPDATE
Jennifer Bastiaan of Kettering University
chaired or organized several WCX 2023
sessions relating to vehicle dynamics. She is an
associate editor of the SAE international
Journal of Vehicle Dynamics, Stability, and
NVH.
This study interestingly has
shown different results
compared to other studies
comparing lateral controllers
that favor the Pure Pursuit
controller over the Stanley
controller. These differences in
results may come down to
differences in testing
methodology and vehicle
calibration. However, the usage
of different deviance,
acceleration, and especially jerk
tests may help controller
designers develop controllers
that can address not only
accuracy but also performance
and comfort in higher velocity
scenarios where vehicle
dynamics become significant. n
May 2023
15
Kettering University

SAE Update - May 2023

Table of Contents for the Digital Edition of SAE Update - May 2023

SAE Update - May 2023 - Cov1
SAE Update - May 2023 - Cov2
SAE Update - May 2023 - 1
SAE Update - May 2023 - 2
SAE Update - May 2023 - 3
SAE Update - May 2023 - 4
SAE Update - May 2023 - 5
SAE Update - May 2023 - 6
SAE Update - May 2023 - 7
SAE Update - May 2023 - 8
SAE Update - May 2023 - 9
SAE Update - May 2023 - 10
SAE Update - May 2023 - 11
SAE Update - May 2023 - 12
SAE Update - May 2023 - 13
SAE Update - May 2023 - 14
SAE Update - May 2023 - 15
SAE Update - May 2023 - 16
SAE Update - May 2023 - 17
SAE Update - May 2023 - 18
SAE Update - May 2023 - 19
SAE Update - May 2023 - 20
SAE Update - May 2023 - 21
SAE Update - May 2023 - 22
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SAE Update - May 2023 - 26
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