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
收藏
页码：351 / 361
页数：11
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