Wael Farag* Pages 91 - 100 ( 10 )
<P>Background: In this paper, a Proportional-Integral-Differential (PID) controller that facilitates track maneuvering for self-driving cars is proposed. </P><P> Methods: Three different design approaches are used to find and tune the controller hyperparameters. One of them is “WAF-Tune”, which is an ad hoc trial-and-error based technique that is specifically proposed in this paper for this specific application. The proposed controller uses only the Cross-Track-Error (CTE) as an input to the controller, whereas the output is the steering command. </P><P> Results: Extensive simulation studies in complex tracks with many sharp turns have been carried out to evaluate the performance of the proposed controller at different speeds. </P><P> Conclusion: The analysis shows that the proposed technique outperforms the other ones. The usefulness and the shortcomings of the proposed tuning mechanism are also discussed in details.</P>
PID control, self-driving car, autonomous driving, PID tuning, collision avoidance, fuzzy control.
Department of Electrical Engineering, American University of the Middle East, Egaila