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2017 | OriginalPaper | Chapter

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

Authors : Ahmed Sharmin, Rahiman Wan

Published in: 9th International Conference on Robotic, Vision, Signal Processing and Power Applications

Publisher: Springer Singapore

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Abstract

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.

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Metadata
Title
An Autonomous Lane-Keeping Ground Vehicle Control System for Highway Drive
Authors
Ahmed Sharmin
Rahiman Wan
Copyright Year
2017
Publisher
Springer Singapore
DOI
https://doi.org/10.1007/978-981-10-1721-6_38