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Conference papers
Optimized self-adaptive PID speed control for autonomous vehicles
Abstract : The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need additional adaptation to control nonlinear systems with varying parameters. In this paper, the longitudinal control task is addressed by implementing adaptive PID control using two different approaches: Genetic Algorithms (GA-PID) and then Neural Networks (NN-PID) respectively. The vehicle nonlinear longitudinal dynamics are modeled using Powertrain blockset library. Finally, simulations are performed to assess and compare the performance of the two controllers subject to external disturbances.
https://hal.archives-ouvertes.fr/hal-03442081
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Thursday, February 3, 2022 - 3:18:17 PM
Last modification on : Wednesday, March 2, 2022 - 3:37:15 AM
Long-term archiving on: : Wednesday, May 4, 2022 - 8:22:11 PM
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Thursday, February 3, 2022 - 3:18:17 PM
Last modification on : Wednesday, March 2, 2022 - 3:37:15 AM
Long-term archiving on: : Wednesday, May 4, 2022 - 8:22:11 PM
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