Autonomous vehicles are set to create a paradigmshift. Everyone could relax on their way to work and no accidentsdue to falling asleep behind the wheel would occur. For this tohappen the autonomous vehicle requires among many differentcomponents, a lane following system. In this paper such asystem is developed. First a mathematical model that describea vehicles behaviour is derived. Then a regulator structure withcontrollers and other components is developed. Finally the systemis implemented as a complete simulator that simulates the movingvehicle. Several different scenarios are tested and the performanceof the system is evaluated. A working simulator is achieved witha vehicle following the predefined path with little deviation, thesystems behaviour is also smooth. It is concluded that the proposedsolution is sufficient for moderates vehicle speeds, but at higherspeeds the mathematical model will not be accurate and theperformance of the system will be insufficient.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    PID Controllers for Autonomous Vehicle Path Following


    Beteiligte:

    Erscheinungsdatum :

    2017-01-01


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Generic Path-following Guidance for an Autonomous Vehicle

    Kumar, Saurabh / Sinha, Abhinav / Kumar, Shashi Ranjan | AIAA | 2024


    Path following control system for a small autonomous vehicle

    Midha, Raj Chander, 1977- | DSpace@MIT | 2001

    Freier Zugriff

    Path-following algorithms and experiments for an autonomous surface vehicle

    Bibuli, Marco / Caccia, Massimo / Lapierre, Lionel | Tema Archiv | 2007


    Path following controller for autonomous vehicles

    Domina, Adam / Tihanyi, Viktor | IEEE | 2019