Vision based closed loop pid controller design and implementation for autonomous car

Chandni, C.K.; Variyar, V. V. Sajith; Guruvayurappan, K.

doi:10.1109/icacci.2017.8126127

Cited by 20 publications

(3 citation statements)

References 13 publications

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“…Due to these benefits, many studies have been conducted dealing with autonomous vehicles. PID control has been used in vehicle steering control studies [3][4][5][6]. The stepper motor was used as an actuator in the Daewoo Matiz car.…”

Section: Introductionmentioning

confidence: 99%

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Steering Control in Electric Power Steering Autonomous Vehicle Using Type-2 Fuzzy Logic Control and PI Control

Arifin

Suprapto

Prasetyowati

et al. 2022

WEVJ

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The steering system in autonomous vehicles is an essential issue that must be addressed. Appropriate control will result in a smooth and risk-free steering system. Compared to other types of controls, type-2 fuzzy logic control has the advantage of dealing with uncertain inputs, which are common in autonomous vehicles. This paper proposes a novel method for the steering control of autonomous vehicles based on type-2 fuzzy logic control combined with PI control. The primary control, type-2 fuzzy logic control, has three inputs—distance, navigation, and speed. The fuzzy system’s output is the steering angle value. This was used as input for the secondary control, PI control. This control is in charge of adjusting the motor’s position as a manifestation of the steering angle. The study results applied to the EPS system of autonomous vehicles revealed that type-2 fuzzy logic control and PI control produced better and smoother control than type-1 fuzzy logic control and PI. The slightest disturbance in the type-1 fuzzy logic control showed a significant change in steering, while this did not occur in the type-2 fuzzy logic control. The results indicate that type-2 fuzzy logic control and PI control could be used for autonomous vehicles by maintaining the comfort and safety of the users.

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Section: Introductionmentioning

confidence: 99%

“…The stepper motor was used as an actuator in the Daewoo Matiz car. Closed-loop control generated smoother results than open-loop control [3]. The application of adaptive PID control to high-power servo motors was also used for autonomous vehicle steering [4].…”

Section: Introductionmentioning

confidence: 99%

Steering Control in Electric Power Steering Autonomous Vehicle Using Type-2 Fuzzy Logic Control and PI Control

Arifin

Suprapto

Prasetyowati

et al. 2022

WEVJ

View full text Add to dashboard Cite

show abstract

“…Moreover, to address a repeated problem of steering control, a robust PID controller is designed in [9]. Another approach was nested conventional PI and PID controllers to improve the accuracy of the steering angle controllers [10][11][12][13][14][15]. However, the damping effect of the conventional PID controller is not good enough to keep the vehicle running smoothly for lane tracking.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Lane Keeping Assist for an Autonomous Vehicle based on Steering Fuzzy-PID Control in ROS

Ngoc¹,

Quach²

2022

IJACSA

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An autonomous vehicle is a vehicle that can run autonomously using a control. There are two modern autonomous assistant systems that are proposed in this research. First, we introduce a real-time approach to detect lanes of the streets. Based on a series of multi-step image processing through input data from the camera, the vehicle's steering angle is estimated for lane keeping. Second, the steering control system ensures that autonomous vehicles can operate stably, and smoothly, and adapt to various road conditions. The steering controller consists of a PID controller and fuzzy logic control strategy to adjust the controller parameters. The simulation experiments by Gazebo simulator of the Robot Operating System (ROS) not only indicate that the vehicle can keep the lane safely, but also demonstrate that the proposed steering angle controller is more stable and adaptive than the conventional PID controller.

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Design of Control System for Autonomous Harvester Based on Navigation Inputs

Chatterjee

Peeyush

2020

Lecture Notes in Electrical Engineering

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Vision based closed loop pid controller design and implementation for autonomous car

Cited by 20 publications

References 13 publications

Steering Control in Electric Power Steering Autonomous Vehicle Using Type-2 Fuzzy Logic Control and PI Control

Steering Control in Electric Power Steering Autonomous Vehicle Using Type-2 Fuzzy Logic Control and PI Control

Adaptive Lane Keeping Assist for an Autonomous Vehicle based on Steering Fuzzy-PID Control in ROS

Design of Control System for Autonomous Harvester Based on Navigation Inputs

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