A nested PID steering control for lane keeping in vision based autonomous vehicles

Marino, R.; Scalzi, Stefano; Orlando, Giuseppe; Netto, Mariana

doi:10.1109/acc.2009.5160343

Cited by 53 publications

(30 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Steering control algorithm is simulated in Labview and with PID control [12]. In order to simulate the active steering system one side direction disturbance is applied to vehicle.…”

Section: Simulation Resultsmentioning

confidence: 99%

Study on active steering control of vehicle for safe driving in highway with GPS information

Lee

Bak

Lee

2012

2012 IEEE Intelligent Vehicles Symposium

View full text Add to dashboard Cite

System are one of those safe system. Sudden and inattentive lateral motion of vehicle due to drivers' fatigue, illness, inattention, and drowsiness are major causes of accidents in highway. In order to prevent and minimize any possible accidents due to lateral motion of vehicle, active steering control system is designed and simulated in this study. Activation and warning areas are defined for the control system with respect to the location of vehicle and parameters for vehicle dynamics. The current location of vehicle is obtained by Differential Global Positioning System (DGPS) and it can detect DGPS-based lanes then determine whether activates or not.

show abstract

“…Steering control algorithm is simulated in Labview and with PID control [12]. In order to simulate the active steering system one side direction disturbance is applied to vehicle.…”

Section: Simulation Resultsmentioning

confidence: 99%

Study on active steering control of vehicle for safe driving in highway with GPS information

Lee

Bak

Lee

2012

2012 IEEE Intelligent Vehicles Symposium

View full text Add to dashboard Cite

show abstract

“…Marino et al [14] proposed a nested PID steering controller for lane keeping in vision based autonomous vehicles. But the static feedback strategies in general do not handle any external constraints , which is a major drawback of this control scheme.…”

Section: Mpc Methodsmentioning

confidence: 99%

An APF and MPC combined collaborative driving controller using vehicular communication technologies

Huang

et al. 2016

Chaos, Solitons & Fractals

View full text Add to dashboard Cite

“…Recently, automatic lane-keeping control for vehicles has become an attractive research area, and many lane-keeping controllers [1][2][3][4][5][6][7][8][9] have been developed. In these controllers, only front-wheel steering is used to control the lateral behaviour of vehicles, but it is very difficult to achieve good lane-keeping performance using only one control input.…”

Section: Introductionmentioning

confidence: 99%

Improved adaptive lane‐keeping control for four‐wheel steering vehicles without lateral velocity measurements

Shu

Sagara

Wang

et al. 2017

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Summary Previously, we developed an adaptive lane‐keeping controller for vehicles without using lateral velocity measurements. However, the construction of the controller is very complex and not suitable for practical applications. To overcome this problem, we propose an improved adaptive lane‐keeping controller that is much simpler than the conventional controller. To obtain the improved controller, we propose an improved vehicle dynamic expression. In this dynamic expression, fewer elements are estimated adaptively as containing unknown vehicle parameters compared with the conventional expression. Moreover, a control performance improvement method is described theoretically. Finally, we report numerous simulations that validated the effectiveness of the improved controller. Copyright © 2017 John Wiley & Sons, Ltd.

show abstract

A nested PID steering control for lane keeping in vision based autonomous vehicles

Cited by 53 publications

References 13 publications

Study on active steering control of vehicle for safe driving in highway with GPS information

Study on active steering control of vehicle for safe driving in highway with GPS information

An APF and MPC combined collaborative driving controller using vehicular communication technologies

Improved adaptive lane‐keeping control for four‐wheel steering vehicles without lateral velocity measurements

Contact Info

Product

Resources

About