How to use Lateral Controller (Stanley,Pure Pursuit etc.) with GPS Coordinates?

Hi everyone,

i am struggling with following issue for a long time. So please help me.

I want to use Lateral Controller in Simulink but i don`t have X Y Theta Coordinates as Input rather GPS coordinates (Latitude, Longitude). Can someone help me, how i can use this controller with this format?

Thanks a lot.

Answer 1

[Sarthak]

Hi Ihsan,

As per my understanding, lateral controllers typically operate in Cartesian Coordinates. You can convert your geographic coordinates to cartesian coordinates using

X = R * cos(latitude) * cos(longitude)

Y = R * cos(latitude) * sin(longitude)

You can also consider using the latlon2local function to achieve the same. Attaching a documentation link for your reference.

https://www.mathworks.com/help/driving/ref/latlon2local.html