Nonlinear Backstepping Control Design for Coupled Nonlinear Systems under External Disturbances

Figure 6

Vehicle and camera models used in the simulations.

(a) Overall simulation structure that consists of CarSim vehicle model

(b) Vehicle part. The output of lane camera is lane coefficients; denotes the lateral lane center offset at c.g., denotes the in-lane heading slop, the heading angle error at c.g., denotes curvature/2 at , and denotes the curvature-rate/6