Development of AFPID Based Stanley Controller to Control the Steering Wheel Angle of Vehicle on Tire Blowout

A tire blowout is an exceptionally rare scenario, which when occurs causes heavy damage not only in terms of damage to the vehicle but also, the surroundings as well. In the context of tire blowout, there are multiple variables that affect the stability of the vehicle, our work involves taking these exhaustive lists of variables into consideration and studying these variables to provide optimum control. Some of the variables taken into study are the Slip, Lateral and Longitudinal forces, Steering angles, Payload, Normal force and Moment along these forces. The basic necessity of implementing this project in the current scenario is due to unavailability of tubeless tires for commercial vehicles in the Indian market. The vehicle model is created along with the dynamic equations under a nominal scenario and all the aforementioned variables are studied. The Simulink model yielded the dynamic slip values, lateral and longitudinal forces and the rest of the aforementioned variables in the form of a time varying graph. This software provides the user with various tire models that are compatible with the Simulink model. With the given controller design in Simulink, the given dynamics are incorporated and as per user requirement, the CarMaker software yields results. The ultimate aim of running the simulation is to use the results to provide countermeasures. The contingency implemented here is that of lane keeping mechanism and gradual braking to then bring the vehicle to a halt.