Using a Simulink dynamic motorcycle in a driving scenario trajectory.

I am having a project to simulate some collision situation with dynamics vehicles. I've already see through example and successfully model a real motorcycle with ABS brake. The automated driving toolbox driving scenario creates trajectory using waypoints and the velocity at each of that point. So, the question is how can i put my motorcycle model into that trajectory ? I have to specific a point in the trajectory where the motorcycle brakes, this is why i do not know the specific velocity at each way point.

Answer 1

[J Chen]

You need to use a lateral controller such as Pure Pursuit (in the Navigation or Robotics toolbox) or Stanley (in the Automatic Driving Toolbox)

[Trung]

Thank you for your answer, this seem promising, been working on path tracking using MPC, i'll check what you said to see if this work.

Answer 2

[Emmanouil Tzorakoleftherakis]

Here is a video that shows how to do that using Model Predictive Control Toolbox:

https://www.mathworks.com/videos/understanding-model-predictive-control-part-6-how-to-design-an-mpc-controller-with-simulink-and-model-predictive-control-toolbox-1535693503432.html

[Trung]

Thank you sir, I’ve checked all the related videos. And they help alot.