Skip to main content
SpringerLink
Log in

An Autonomous Lane-Keeping Ground Vehicle Control System for Highway Drive

  • Conference paper
  • First Online:
9th International Conference on Robotic, Vision, Signal Processing and Power Applications

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 398))

Abstract

In this paper, a control system for lane-keeping ground vehicle is designed. Under the assumption of highway driving condition, with an uncertain road curvature, a lane keeping vehicle control system is developed. The closed loop control system is obtained by implementing a PID (proportional, integral and derivative controller) control strategy. For a MIMO (multi-input multi-output) vehicle model, a loop of PID controllers is designed to ensure the lane keeping criteria of the vehicle is satisfied. Several simulation results have demonstrated the functionality of lane-keeping feature of the vehicle.

This research was supported by Universiti Sains Malaysia RUI GRANT (grant number: 1001/PELECT/814265).

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 259.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 329.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 329.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Kiencke U, Nielsen L (2000) Automotive control systems: for engine, drive-line, and vehicle. Measur Sci Technol J 11(12):1828

    Google Scholar 

  2. Ozguner U, Acarman T, Redmill KA (2011) Autonomous ground vehicles. Artech House, Boston, London

    Google Scholar 

  3. Cerone V, Regruto D (2003) Vehicle lateral controller design exploiting properties of sito systems. In: American Control Conference, Proceedings of the 2003, vol 5. IEEE Press, Denver, Colorado, pp. 4365–4370

    Google Scholar 

  4. Marino R, Scalzi S, Netto M (2011) Nested PID steering control for lane keeping in autonomous vehicles. Control Eng Pract J 19(12):1459–1467

    Google Scholar 

  5. Ackermann J, Guldner J, Sienel W, Steinhauser R, Utkin V (1995) Linear and nonlinear controller design for robust automatic steering. IEEE Trans Control Syst Technol Mol J 3(1):132–143

    Google Scholar 

  6. Gao Y, Lin T, Borrelli F, Tseng E, Hrovat D (2010) Predictive control of autonomous ground vehicles with obstacle avoidance on slippery roads. In: ASME 2010 dynamic systems and control conference, vol. 1. American Society of Mechanical Engineers, Cambridge, Massachusetts, USA, pp. 265–272

    Google Scholar 

  7. Vilanova R, Visioli, A (2012) PID control in the third millennium. Springer, London

    Google Scholar 

  8. Nielsen L, Kiencke U (2000) Automotive control systems. Springer, Berlin

    Google Scholar 

  9. Rajamani R (2011) Vehicle dynamics and control. Springer, US

    Google Scholar 

  10. Gillespie Thomas D (1999) Fundamentals of vehicle dynamics. SAE Technical Paper, Warrendale, PA

    Google Scholar 

  11. Araki M (2002) PID control. Control Syst Robot Autom J 2:1–23

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Universiti Sains Malaysia, Engineering Campus, George Town, Penang, Malaysia

    Ahmed Sharmin

  2. School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Engineering Campus, 14300, Nibong Tebal, Penang, Malaysia

    Rahiman Wan

Authors
  1. Ahmed Sharmin
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Rahiman Wan
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Rahiman Wan .

Editor information

Editors and Affiliations

  1. School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia

    Haidi Ibrahim

  2. School of Electrical & Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia

    Shahid Iqbal

  3. School of Electrical & Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia

    Soo Siang Teoh

  4. School of Electrical & Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia

    Mohd Tafir Mustaffa

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer Science+Business Media Singapore

About this paper

Cite this paper

Sharmin, A., Wan, R. (2017). An Autonomous Lane-Keeping Ground Vehicle Control System for Highway Drive. In: Ibrahim, H., Iqbal, S., Teoh, S., Mustaffa, M. (eds) 9th International Conference on Robotic, Vision, Signal Processing and Power Applications. Lecture Notes in Electrical Engineering, vol 398. Springer, Singapore. https://doi.org/10.1007/978-981-10-1721-6_38

Download citation

  • DOI: https://doi.org/10.1007/978-981-10-1721-6_38

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-1719-3

  • Online ISBN: 978-981-10-1721-6

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation