Evaluating the Performance of Fuzzy-PID Control for Lane Recognition and Lane-Keeping in Vehicle Simulations
Yükleniyor...
Tarih
2023
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
MDPI, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND
Erişim Hakkı
info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivs 3.0 United States
Attribution-NonCommercial-NoDerivs 3.0 United States
Özet
This study presents the use of a vision-based fuzzy-PID lane-keeping control system for the simulation of a single-track bicycle model. The lane-keeping system (LKS) processes images to identify the lateral deviation of the vehicle from the desired reference track and generates a steering control command to correct the deviation. The LKS was compared to other lane-keeping control methods, such as Ziegler–Nichols proportional derivative (PD) and model predictive control (MPC), in terms of response time and settling time. The fuzzy-PID controller had the best performance, with fewer oscillations and a faster response time compared to the other methods. The PD controller was not as robust under various conditions due to changing parameters, while the MPC was not accurate enough due to similar reasons. However, the fuzzy-PID controller showed the best performance, with a maximum lateral deviation of 2 cm, a settling time of 12 s, and Kp and Kd values of 0.01 and 0.06, respectively. Overall, this work demonstrates the potential of using fuzzy-PID control for effective lane recognition and lane-keeping in vehicles.
Açıklama
Anahtar Kelimeler
acoustic sensor, internet of things, temperature sensor, car parking
Kaynak
Electronics
WoS Q Değeri
Q2
Scopus Q Değeri
Q2
Cilt
12
Sayı
3
