MATLAB: Lateral Control Tutorial: Why is the variable ‘CurvedSteadyYaw’ positive

Question

The Lateral Control Tutorial in Simulink can be found here: https://www.mathworks.com/help/driving/examples/lateral-control-tutorial.html. The model shown below is a subsystem of the model presented in the tutorial mentioned above (LateralControlTutorial > Lateral Controller > Lateral Controller Stanley Dynamic > Dynamic > Dynamic Enabled). According to Equation 9 in Hoffmann et al., used as a reference for the Lateral Control Tutorial, the curved steady state yaw term ('CurvedSteadyYaw') should have a negative sign in front of it. Why does the variable 'CurvedSteadyYaw' in the model have a positive sign?

Answer 1

In the reference paper, the positive direction of the steering angle is clockwise (see Fig. 2 in paper), while in the Automated Driving Toolbox it is counterclockwise, which explains the negative sign.