Evaluating the performance of fuzzy-PID control for lane recognition and alne-keeping in vehicle simulations

Samuel, Moveh, Yahya, Khalid, Attar, Hani, Amer, Ayman, Mohamed, Mahmoud ORCID: https://orcid.org/0000-0001-9386-7495 and Badmos, Tajudeen Adeleke 2023. Evaluating the performance of fuzzy-PID control for lane recognition and alne-keeping in vehicle simulations. Electronics 12 (3) , 724. 10.3390/electronics12030724

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Abstract

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.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Engineering
Publisher:	MDPI
ISSN:	2079-9292
Date of First Compliant Deposit:	23 February 2023
Date of Acceptance:	29 January 2023
Last Modified:	11 Oct 2023 20:02
URI:	https://orca.cardiff.ac.uk/id/eprint/157273

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