Adaptive Lane Keeping Assist for an Autonomous Vehicle based on Steering Fuzzy-PID Control in ROS

摘要

An autonomous vehicle is a vehicle that can run autonomously using a control. There are two modern autonomous assistant systems that are proposed in this research. First, we introduce a real-time approach to detect lanes of the streets. Based on a series of multi-step image processing through input data from the camera, the vehicle’s steering angle is estimated for lane keeping. Second, the steering control system ensures that autonomous vehicles can operate stably, and smoothly, and adapt to various road conditions. The steering controller consists of a PID controller and fuzzy logic control strategy to adjust the controller parameters. The simulation experiments by Gazebo simulator of the Robot Operating System (ROS) not only indicate that the vehicle can keep the lane safely, but also demonstrate that the proposed steering angle controller is more stable and adaptive than the conventional PID controller.