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

SAMUEL, Moveh, YAHYA, Khalid, ATTAR, Hani, AMER, Ayman, MOHAMED, Mahmoud and BADMOS, Tajudeen Adeleke (2023). Evaluating the performance of fuzzy-PID control for lane recognition and lane-keeping in vehicle simulations. Electronics, 12 (3): 724.

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Official URL: https://www.mdpi.com/2079-9292/12/3/724
Open Access URL: https://www.mdpi.com/2079-9292/12/3/724/pdf?versio... (Published version)
Link to published version:: https://doi.org/10.3390/electronics12030724


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
Additional Information: ** Article version: VoR ** From MDPI via Jisc Publications Router ** Licence for VoR version of this article: https://creativecommons.org/licenses/by/4.0/ ** Peer reviewed: TRUE **Journal IDs: eissn 2079-9292 **Article IDs: publisher-id: electronics-12-00724 **History: published_online 01-02-2023; collection 02-2023; accepted 29-01-2023; rev-recd 26-01-2023; submitted 28-12-2022
Uncontrolled Keywords: Article, acoustic sensor, internet of things, temperature sensor, car parking
Identification Number: https://doi.org/10.3390/electronics12030724
SWORD Depositor: Colin Knott
Depositing User: Colin Knott
Date Deposited: 07 Mar 2023 10:47
Last Modified: 11 Oct 2023 16:46
URI: https://shura.shu.ac.uk/id/eprint/31618

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