Small-scale Experimental Test Rig for Lateral Vehicle Control

This paper presents the design and implementation of a small-scale hardware-in-the-loop test environment for lateral vehicle dynamics controllers. The rig consists conveyor belt 1:10 scale model vehicle. is anchored to frame using special fixture, which constrains only longitudinal displacement car. Therefore, velocity provided by belt, while steering generated computational unit, where various control methods can be implemented. equipped with sensors that provide accurate measurements position orientation car, used as feedback in algorithms. includes case study, analytical stability analysis lane-keeping controller verified experiments on rig. proposed provides compact, cost effective versatile framework testing running vehicle, maintaining benefits controlled laboratory environment. experimental setup also educational demonstrational purposes.