Can I do Path Planning in Simulink-CarSIM?

Can I do Path Planning in Simulink-CarSIM like frenet, RRT, A* etc? I don't understand how do i do it? I have the fixed settling time sliding mode controller along with lateral and longitudinal controller. inputs to CARSIM are steering angle and input torque. Outputs are longitudinal speed of vehicle and speed and other 3 to 4 parameters that are then feed back to diffeomorphism transformation from state x and X dot to Z and Z dot and then feeded back to controller. now the problem is how do i merge the path planning algorithm with this? Any algorithm. If you have any project as an example, let me know!

Answer 1

[Shivam Lahoti]

Hi Muhammad Zaid,

As per my understanding, you want to apply a path-planning algorithm like frenet, RRT, A*, etc to your Simulink-CarSIM model. You have a fixed-time sliding mode controller along with a lateral and longitudinal controller. You wish to incorporate a path-planning algorithm into this model.

Simulink and CarSIM both support each other and have added respective functionalities to allow the import/export of the models.

https://www.mathworks.com/products/connections/product_detail/carsim-trucksim-bikesim.html

https://www.carsim.com/products/supporting/simulink/index.php

CarSIM models could be accessed in Simulink S-function plug-ins the same way any other S-function is used.

https://www.mathworks.com/help/simulink/sfg/what-is-an-s-function.html

As the next step, you should integrate a path-planning algorithm into the Simulink interface. You can refer to the provided link to learn about various path-planning algorithms and their implementation in Simulink. The link contains explanations and examples that can assist you in adapting the algorithms to your specific use case.

https://www.mathworks.com/discovery/path-planning.html

I hope this was helpful.

Regards,

Shivam Lahoti.