I'm new to simulink and planning to use the Lane Keeping Assist System from automated driving toolbox.
I've noticed that the input curvature of that block is a signed variable, and according to the explanation,
the curvature is positive when the road curves toward the positive Y axis of the global coordinate system.
However, what I don't know is, how is this global coordinate system defined.
According to the following image, X-Y is the global coordinate, and Vx-Vy is the vehicle coordinate, but it's rather hard to find out the relationship between the global coordinate and the vehicle coordinate.
Can I assume the global coordinate is the lane coordinte (Lx-Ly, where Lx is the tangent of the lanecenterline)？
And under this assumption, a curve to the left will always have a positive curvature, and a curve to the right will have negative curvature. Is that correct?
Thank you very much in advance!