Evaluating the Performance of Fuzzy-PID Control for Lane Recognition and Lane-Keeping in Vehicle Simulations

Creative Commons License

Samuel M., Yahya K., Attar H., Amer A., Mohamed M., Badmos T. A.

Electronics (Switzerland), cilt.12, sa.3, 2023 (SCI-Expanded) identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 12 Sayı: 3
  • Basım Tarihi: 2023
  • Doi Numarası: 10.3390/electronics12030724
  • Dergi Adı: Electronics (Switzerland)
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Aerospace Database, Communication Abstracts, INSPEC, Metadex, Directory of Open Access Journals, Civil Engineering Abstracts
  • Anahtar Kelimeler: acoustic sensor, car parking, internet of things, temperature sensor
  • İstanbul Gelişim Üniversitesi Adresli: Evet

Özet

© 2023 by the authors.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.