Modeling And Control Of Lane Keeping System For Autonomous Vehicle

Control of autonomous ground vehicle has been one of the most vital topic of research in recent times. Among many features, lane keeping of ground vehicle has caught the attention of the researchers for its immense need in the passenger cars to avoid accidents and congestion. In this research a m...

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Main Author:	Ahmed, Sharmin
Format:	Thesis
Language:	English
Published:	2016
Subjects:	T Technology TK7868.D5 Digital electronics and Electronic circuit design
Online Access:	http://eprints.usm.my/45772/1/Modeling%20And%20Control%20Of%20Lane%20Keeping%20System%20For%20Autonomous%20Vehicle.pdf
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id	my-usm-ep.45772
record_format	uketd_dc
spelling	my-usm-ep.457722020-10-22T03:03:18Z Modeling And Control Of Lane Keeping System For Autonomous Vehicle 2016-03 Ahmed, Sharmin T Technology TK7868.D5 Digital electronics and Electronic circuit design Control of autonomous ground vehicle has been one of the most vital topic of research in recent times. Among many features, lane keeping of ground vehicle has caught the attention of the researchers for its immense need in the passenger cars to avoid accidents and congestion. In this research a mathematical model of ground vehicle is developed from the lateral dynamics. The steering angle and the road curvature acts as the control input and the disturbance input of the vehicle respectively. Then with the help of conventional control method the vehicle is controlled to keep the lane. Later, model predictive control is applied for controlling the vehicle model. For both conventional and model predictive control approaches, the stability and robustness of the closed loop control system is conducted on dry and wet road condition. For robustness analysis, parametric uncertainty is added in the vehicle model, where road-tire friction coefficient and look ahead distance are assumed as uncertain parameters. Robustness of the proportional, integral, derivative control is not satisfactory in the presence of parametric uncertainty but the model predictive controller is robust enough in the presence of uncertain road-tire friction coefficient and look ahead distance. 2016-03 Thesis http://eprints.usm.my/45772/ http://eprints.usm.my/45772/1/Modeling%20And%20Control%20Of%20Lane%20Keeping%20System%20For%20Autonomous%20Vehicle.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Elektrik & Elektronik
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	T Technology TK7868.D5 Digital electronics and Electronic circuit design
spellingShingle	T Technology TK7868.D5 Digital electronics and Electronic circuit design Ahmed, Sharmin Modeling And Control Of Lane Keeping System For Autonomous Vehicle
description	Control of autonomous ground vehicle has been one of the most vital topic of research in recent times. Among many features, lane keeping of ground vehicle has caught the attention of the researchers for its immense need in the passenger cars to avoid accidents and congestion. In this research a mathematical model of ground vehicle is developed from the lateral dynamics. The steering angle and the road curvature acts as the control input and the disturbance input of the vehicle respectively. Then with the help of conventional control method the vehicle is controlled to keep the lane. Later, model predictive control is applied for controlling the vehicle model. For both conventional and model predictive control approaches, the stability and robustness of the closed loop control system is conducted on dry and wet road condition. For robustness analysis, parametric uncertainty is added in the vehicle model, where road-tire friction coefficient and look ahead distance are assumed as uncertain parameters. Robustness of the proportional, integral, derivative control is not satisfactory in the presence of parametric uncertainty but the model predictive controller is robust enough in the presence of uncertain road-tire friction coefficient and look ahead distance.
format	Thesis
qualification_level	Master's degree
author	Ahmed, Sharmin
author_facet	Ahmed, Sharmin
author_sort	Ahmed, Sharmin
title	Modeling And Control Of Lane Keeping System For Autonomous Vehicle
title_short	Modeling And Control Of Lane Keeping System For Autonomous Vehicle
title_full	Modeling And Control Of Lane Keeping System For Autonomous Vehicle
title_fullStr	Modeling And Control Of Lane Keeping System For Autonomous Vehicle
title_full_unstemmed	Modeling And Control Of Lane Keeping System For Autonomous Vehicle
title_sort	modeling and control of lane keeping system for autonomous vehicle
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Elektrik & Elektronik
publishDate	2016
url	http://eprints.usm.my/45772/1/Modeling%20And%20Control%20Of%20Lane%20Keeping%20System%20For%20Autonomous%20Vehicle.pdf
_version_	1747821562691584000

Modeling And Control Of Lane Keeping System For Autonomous Vehicle

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