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As automated driving becomes more common, simulation of vehicle dynamics and control scenarios are increasingly important for investigating motion control approaches. In this work, a study of the differences between the Pure Pursuit and Stanley autonomous vehicle controllers, based on vehicle dynamics responses, is presented. Both are geometric controllers that use only immediate vehicle states, along with waypoint data, to control a vehicle’s future direction as it proceeds from point to point, and both are among the most popular lateral controllers in use today. The MATLAB Automated Driving Toolbox is employed to implement and virtually test the Pure Pursuit and Stanley lateral controllers in different driving scenarios. These include low intensity scenarios such as city driving, and emergency maneuvers such as the moose test.

With the recent advances in rapid modeling and rapid prototyping, accurate simulation models for tires are very desirable. Selection of a tire slip model depends on the required frequency range and nonlinearity associated with the dynamics of the vehicle. This paper presents a brief overview of three major slip concepts including “Stationary slip”, “Physical transient slip”, and “Pragmatic transient slip”; tire models use these slip concepts to incorporate tire slip behavior. The review illustrates that there can be no single accurate slip model which could be ideally used for all modes of vehicle dynamics simulations. For this study, a rigid ring based semi-analytical tire model for intermediate frequency (up to 100 Hz) is used.