Preprint Article Version 1 This version is not peer-reviewed

Performance and Robustness Analysis of Model Predictive Controller (MPC) and Proportional Integral Derivative Control (PID) of an Autonomous Vehicle for Lane Keeping Maneuvers

Version 1 : Received: 30 December 2019 / Approved: 31 December 2019 / Online: 31 December 2019 (10:10:57 CET)

How to cite: Samuel, M. Performance and Robustness Analysis of Model Predictive Controller (MPC) and Proportional Integral Derivative Control (PID) of an Autonomous Vehicle for Lane Keeping Maneuvers. Preprints 2019, 2019120404 (doi: 10.20944/preprints201912.0404.v1). Samuel, M. Performance and Robustness Analysis of Model Predictive Controller (MPC) and Proportional Integral Derivative Control (PID) of an Autonomous Vehicle for Lane Keeping Maneuvers. Preprints 2019, 2019120404 (doi: 10.20944/preprints201912.0404.v1).

Abstract

Motivated by Autonomous vehicle idea and driving safety issues, driver assistance system such as Active braking, Cruise Control, Lane departure warning lane keeping and etc. has become a very active research area. However, this paper presents the performance and robustness analysis of a model predictive control and proportional integral derivative control for lane keeping maneuvers of an autonomous vehicle using computer vision simulation studies. A simulation study was carried out where a vehicle model based on single tracked bicycle model was developed in MATLAB/SIMULINK environment together with a vision dynamic system. Both PID controller and MPC were simulated to maintain the desired reference trajectory of the vehicle by controlling steering angle. Further performance and robustness analysis were carried out and the simulation results show that the proposed control system for the PID control achieved its objective even though it was less robust in maintaining its performance under various conditions like vehicle load change, different longitudinal speed and different cornering stiffness. While in the case of MPC the optimizer made sure that the predicted future trajectory of the vehicle output tracks the desired reference trajectory and was more robust in maintaining its performance under same conditions as in PID.

Subject Areas

performance; robustness; analysis; lane keeping; maneuvers autonomous; vehicles

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