Nested PID steering control for lane keeping in autonomous vehicles

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

doi:10.1016/j.conengprac.2011.08.005

Cited by 358 publications

(147 citation statements)

References 22 publications

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“…Moreover, even if we assume that it is possible to handcraft the code (applying various top-down, theoretical approaches based on vehicle dynamics [25,27,28]) of a more complex, nonlinear PID SAF that controls the steering of an unstable, skidding car in such a way so it regains its stability in a more effective way than the simple PD and PID controllers based on the servo-control model, neither the…”

Section: Evolving the Steering Controller Via Gpmentioning

confidence: 99%

Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions

Алексеева¹,

Tanev²,

Shimohara³

2018

Algorithms

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Abstract:The most important characteristics of autonomous vehicles are their safety and their ability to adapt to various traffic situations and road conditions. In our research, we focused on the development of controllers for automated steering of a realistically simulated car in slippery road conditions. We comparatively investigated three implementations of such controllers: a proportional-derivative (PD) controller built in accordance with the canonical servo-control model of steering, a PID controller as an extension of the servo-control, and a controller designed heuristically via the most versatile evolutionary computing paradigm: genetic programming (GP). The experimental results suggest that the controller evolved via GP offers the best quality of control of the car in all of the tested slippery (rainy, snowy, and icy) road conditions.

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Section: Evolving the Steering Controller Via Gpmentioning

confidence: 99%

Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions

Алексеева¹,

Tanev²,

Shimohara³

2018

Algorithms

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“…yaw rate, lateral acceleration and vehicle sideslip angle. A nested PID steering control in vision based autonomous vehicle is designed and experimentally tested to perform path tracking designed on the basis of the vehicle yaw rate and lateral offset [3] .…”

Section: Introductionmentioning

confidence: 99%

Robust yaw stability control based on disturbance observer using active front steering

Marar

Ginoya

Phadke

et al. 2015

2015 International Conference on Industrial Instrumentation and Control (ICIC)

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A vehicle model based sliding mode controller is designed to achieve desired vehicle behaviour by considering a two degree of freedom bicycle model. A first order linearized dynamic tire model is considered. Sliding mode controller is utilized for yaw rate reference tracking and sideslip stability.Disturbance observer is combined with sliding mode controller to robustify the performance in the presence of parametric uncertainties. A trade-off behaviour between the yaw rate and sideslip angle is discussed. The performance of the proposed controller is verified in MATLABI Simulink.Index Terms-Active steering, Sliding mode control, Distur bance observer, Yaw rate reference tracking, Sideslip angle stability.

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“…In [4], PI controller is used. In [5], nested PID controller is proposed. In [6], controller based on state feedback control is developed.…”

Section: Introductionmentioning

confidence: 99%

Higher-order sliding mode control for lateral dynamics of autonomous vehicles, with experimental validation

Tagne

Talj

Charara

2013

2013 IEEE Intelligent Vehicles Symposium (IV)

101

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This paper presents design and experimental validation of a vehicle lateral controller for autonomous vehicle based on a higher-order sliding mode control. We used the super-twisting algorithm to minimize the lateral displacement of the autonomous vehicle with respect to a given reference trajectory. The control input is the steering angle and the output is the lateral displacement error. The particularity of such a strategy is to take advantage of the robustness of the sliding mode controller against nonlinearities and parametric uncertainties in the model, while reducing chattering, the main drawback of first order sliding mode. To validate the control strategy, the closed-loop system simulated on Matlab-Simulink has been compared to the experimental data acquired on our vehicle DYNA, a Peugeot 308, according to several driving scenarios. The validation shows robustness and good performance of the proposed control approach.

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Nested PID steering control for lane keeping in autonomous vehicles

Cited by 358 publications

References 22 publications

Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions

Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions

Robust yaw stability control based on disturbance observer using active front steering

Higher-order sliding mode control for lateral dynamics of autonomous vehicles, with experimental validation

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