Steering Control for Autonomous Vehicles Using PID Control with Gradient Descent Tuning and Behavioral Cloning

2020 ◽  
Author(s):  
Mohamed Esmail Abed ◽  
Mo'men Aly ◽  
Hossam Hassan Ammar ◽  
Raafat Shalaby
Keyword(s):  
Pid Control ◽  
Autonomous Vehicles ◽  
Gradient Descent ◽  
Steering Control ◽  
Behavioral Cloning

Towards Automated Bicycles: Achieving Self-Balance Using Steering Control

2018 ◽  
Author(s):  
Wenhao Deng ◽  
Skyler Moore ◽  
Jonathan Bush ◽  
Miles Mabey ◽  
Wenlong Zhang
Keyword(s):  
Autonomous Vehicles ◽  
Controller Design ◽  
Smart Cities ◽  
Autonomous Driving ◽  
Human Robot Interaction ◽  
Steering Control ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Potential Applications ◽  
Electric Bicycle

In recent years, researchers from both academia and industry have worked on connected and automated vehicles and they have made great progress toward bringing them into reality. Compared to automated cars, bicycles are more affordable to daily commuters, as well as more environmentally friendly. When comparing the risk posed by autonomous vehicles to pedestrians and motorists, automated bicycles are much safer than autonomous cars, which also allows potential applications in smart cities, rehabilitation, and exercise. The biggest challenge in automating bicycles is the inherent problem of staying balanced. This paper presents a modified electric bicycle to allow real-time monitoring of the roll angles and motor-assisted steering. Stable and robust steering controllers for bicycle are designed and implemented to achieve self-balance at different forward speeds. Tests at different speeds have been conducted to verify the effectiveness of hardware development and controller design. The preliminary design using a control moment gyroscope (CMG) to achieve self-balancing at lower speeds are also presented in this work. This work can serve as a solid foundation for future study of human-robot interaction and autonomous driving.

Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle

2019 ◽  
Author(s):  
Srivatsan Srinivasan ◽  
Matthias J. Schmid ◽  
Venkat N. Krovi
Keyword(s):  
Autonomous Vehicles ◽  
Open Loop ◽  
Current Steering ◽  
Steering Control ◽  
Power Steering ◽  
Steer By Wire ◽  
Yaw Stability ◽  
Adaptive Power ◽  
Lane Keeping ◽  
Wire System

Abstract Incorporation of electronic yaw stabilization in on-road vehicles can take many forms. Although the most popular ones are differential braking and torque distribution, a potentially better alternative would be the inclusion of a controller into the steering process. However, this is not often pursued in mechanically-coupled steering systems since the controller could work against the driver’s intentions creating potential challenges to safety. The growing adoption of steer-by-wire (SbW) systems now in autonomous/semi-autonomous vehicles offers an opportunity to simplify the incorporation of such steering-controller based assistance. Most current steering-assistance systems focus either on adaptive steering control (adaptive power steering and gear ratios) or on total steering control in autopilot functions (lane keeping control). Such steering-controllers (incorporated via SbW modality) can improve driving performance and maneuverability and contribute to the overall suite of active-safety vehicle systems. In this study, we introduce a new pure-feedforward (open loop) controller for the steer-by-wire system based on the concept of reference shaping control aimed at reducing the vibration/oscillation caused in vehicles during fast (evasive) maneuvers.

scholarly journals Automatic Steering Control Algorithm Based on Compound Fuzzy PID for Rice Transplanter

2019 ◽  
Vol 9 (13) ◽  
pp. 2666 ◽  
Author(s):  
Junnan Yin ◽  
Dequan Zhu ◽  
Juan Liao ◽  
Guangyue Zhu ◽  
Yao Wang ◽  
...  
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Maximum Deviation ◽  
Fuzzy Pid ◽  
Steering Control ◽  
Time Data ◽  
Steering Angle ◽  
Fuzzy Pid Controller ◽  
Allowable Deviation ◽  
Automatic Steering

In order to realize automatic steering controls of rice transplanters in paddy fields, an automatic steering control algorithm is essential. In this study, combining the fuzzy control with the proportional-integral-derivative (PID) control and the kinematics model, a compound fuzzy PID controller was proposed to adjust the real time data of the PID parameters for the automatic steering control. The Kubota SPU-68C rice transplanter was then modified with the new controller. Next, an automatic steering control experimental with the modified transplanter was carried out under two conditions of linear tracking and headland turning in verifying the automatic steering effect of the transplanter in different steering angle situations. The results showed that the deviation with the new controller and the modified transplanter was acceptable, with maximum deviation in linear tracking of 7.5 cm, the maximum headland turning a deviation of 11.5 cm, and the average a deviation of less than 5 cm. In conclusion, within the allowable deviation range of the field operation of the rice transplanter, the proposed algorithm successfully realized automatic steering controls of the transplanter under different steering angles.

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