TGAS-Sim: Simulation-Based Validation of Transverse Guidance Assist System (TGAS)

Overview

TGAS-Sim is an open-source repository containing MATLAB Simulink models, simulation scenarios, and analysis results for the Transverse Guidance Assist System (TGAS) applicable to Highly Automated Driving (HAD). The goal is to evaluate trajectory planning, lane-change maneuvers, and perception-based decision-making using simulation-based verification and validation.

This repository provides:

• Simulink models & MATLAB scripts for TGAS simulation.
• Predefined highway scenarios for validation.
• Graphical representations of scenarios, model design, and results.
• Published research papers (linked) related to TGAS.

Research Significance

This repository is based on published research work and is a result of my Master’s Thesis research, which successfully led to two conference publications. I created this repository to support and help others working in or interested in TGAS, trajectory planning, and autonomous vehicle safety.

I welcome suggestions, discussions, and contributions from the community. I also aim to take this topic further for research and would love to collaborate with researchers and engineers working in this field.

1. Master’s Thesis: Simulation-Based Verification and Validation of TGAS for HAD (DOI)
2. Conference Paper 1: Simulation-Based Analysis Of Highway Trajectory Planning (DOI)
3. Conference Paper 2: A Simulation-Based Analysis for Transverse Guidance (DOI)

Repository Structure

📂 TGAS-Sim  
│── 📜 README.md  # Introduction & Instructions  
│── 📜 LICENSE  # Apache 2.0 License  
│── 📜 CONTRIBUTING.md  # How to contribute  
│── 📜 CODE_OF_CONDUCT.md  # Community guidelines  
│  
├── 📂 Simulink files/  # MATLAB & Simulink simulation models
│   ├── instructions.mlx  # Live script to open & load scenario  
│   ├── main_model.slx  # Simulink model file  
│   ├── plotResults.m  # MATLAB script for visualization  
│   ├── scenario.mat  # Predefined simulation scenario  
│  
├── 📂 Results-and-Media/  # Pre-generated results & analysis  
│   ├── lane_change_simulation.mp4  # Video of highway lane change  
│   ├── TGAS_sim_demo.mp4  # Overview of TGAS in Simulink  
│   ├── scenario_visual.png  # Graphical representation of scenario  
│   ├── model_design.png  # Graphical representation of model design  
│   ├── simulation_results.png  # Graphs and plots of results  
│  

Running the Simulation

To run the TGAS simulation, follow these steps:

1. Open MATLAB & Simulink.
2. Run instructions.mlx to load the model & scenario.
3. Open Simulink model and navigate to Bird's Eye Scope.
4. Click Find Signals and Run Simulation.
5. Execute plotResults.m to visualize simulation results.

Snapshots of the Model, Scenario & Results

Below are images representing the scenario, approach, and results:

1️⃣ Driving Scenario Overview

3️⃣ Approach - Trajectory Planning & Control

4️⃣ Results - Lane Change Maneuver

How to Contribute

We welcome contributions from researchers and engineers! Please check CONTRIBUTING.md for guidelines.

License

This project is licensed under Apache 2.0. See LICENSE for details.

Contact & Discussion

If you have any questions, suggestions, or would like to collaborate on future research, feel free to reach out to me:

• 📧 Email: milinp101996@gmail.com
• 🔗 ResearchGate: Milin Patel

I look forward to engaging with the community and expanding research in this field! 🚀