An Autonomous Lane-Keeping Ground Vehicle Control System for Highway Drive

被引：1

作者：

Sharmin, Ahmed ^{[1
]}

Wan, Rahiman ^{[2
]}

机构：

[1] Univ Sains Malaysia, Engn Campus, George Town, Penang, Malaysia

[2] Univ Sains Malaysia, Sch Elect & Elect Engn, Engn Campus, Nibong Tebal 14300, Penang, Malaysia

来源：

9TH INTERNATIONAL CONFERENCE ON ROBOTIC, VISION, SIGNAL PROCESSING AND POWER APPLICATIONS: EMPOWERING RESEARCH AND INNOVATION | 2017年 / 398卷

关键词：

Autonomous ground vehicle; Lane-keeping; PID; DESIGN;

D O I：

10.1007/978-981-10-1721-6_38

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a control system for lane-keeping ground vehicle is designed. Under the assumption of highway driving condition, with an uncertain road curvature, a lane keeping vehicle control system is developed. The closed loop control system is obtained by implementing a PID (proportional, integral and derivative controller) control strategy. For a MIMO (multi-input multi-output) vehicle model, a loop of PID controllers is designed to ensure the lane keeping criteria of the vehicle is satisfied. Several simulation results have demonstrated the functionality of lane-keeping feature of the vehicle.

引用

页码：351 / 361

页数：11

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