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

摘要

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.