Graphical model-based design of intelligent autonomous vehicle

This paper presents the modeling and real-time validation of an intelligent autonomous vehicle using the bond graph tool. Bond graph is a graphical and modular representation of systems residing in the different energy domains, and is a good tool for representing complex systems like heavy vehicle. The validated dynamics of the vehicle are the longitudinal and lateral ones. The model created from the bond graph modeling method is simulated with appropriate software. These two dynamics were validated by comparing its results with co-simulations obtained from professional real-time simulator of vehicle dynamics, named SCANeR Studio^®. A circular path tracking was considered for the analysis of longitudinal and lateral dynamics of the considered Intelligent Autonomous Vehicle (IAV) in closed loop control.