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

Question

Ihsan 2023-4-6

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https://ww2.mathworks.cn/matlabcentral/answers/1942459-how-to-use-lateral-controller-stanley-pure-pursuit-etc-with-gps-coordinates

回答： Sarthak 2023-4-21

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.

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Answer 1

Sarthak 2023-4-21

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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