Abstract
The number of autonomous vehicles with advanced driver assistance systems have been increasing multi-fold. These technologies have reduced the work of the driver and have increased the safety of roads. Though a lot work has been done on development of autonomous vehicles, not much attention has been given to the millions of existing cars without these features. In this paper, we propose a method to implement level 2 autonomy in vehicles without Advanced Driver assistance systems. In this work, steering control of vehicles using voltage spoofing (can be extended to throttle and braking modules), development of PID controllers for the modules, and implementation of end-to-end driving to enable autonomous applications have been discussed. By searching for the stabilizing set to find the controller parameters \(K_p\), \(K_i\), and \(K_d\), the system response has been improved and by implementing transfer learning, training data required has been reduced, and thus end-to-end driving with comparable results have been obtained.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Aly, M.: Real time detection of lane markers in urban streets. In: 2008 IEEE Intelligent Vehicles Symposium, pp. 7–12. IEEE (2008)
Bertozzi, M., Broggi, A.: Gold: a parallel real-time stereo vision system for generic obstacle and lane detection. IEEE Trans. Image Process. 7(1), 62–81 (1998)
Bhattacharyya, S.P., Keel, L.H., Datta, A.: Linear Control Theory: Structure, Robustness, and Optimization. CRC Press, Boca Raton (2009)
Bojarski, M., Del Testa, D., Dworakowski, D., Firner, B., Flepp, B., Goyal, P., Jackel, L.D., Monfort, M., Muller, U., Zhang, J., et al.: End to end learning for self-driving cars. arXiv preprint arXiv:1604.07316 (2016)
Campion, G., Bastin, G., D’Andrea-Novel, B.: Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. In: 1993 Proceedings IEEE International Conference on Robotics and Automation, pp. 462–469. IEEE (1993)
Garrott, W.R., Monk, M.W., Chrstos, J.P.: Vehicle inertial parameters-measured values and approximations. Technical report, SAE Technical Paper (1988)
Hessburg, T., Tomizuka, M.: Fuzzy logic control for lateral vehicle guidance. IEEE Control Syst. Mag. 14(4), 55–63 (1994)
Rajamani, R.: Vehicle Dynamics and Control. Springer, Heidelberg (2011)
Redmon, J., Divvala, S., Girshick, R., Farhadi, A.: You only look once: unified, real-time object detection. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 779–788 (2016)
Simonyan, K., Zisserman, A.: Very deep convolutional networks for large-scale image recognition. CoRR, abs/1409.1556 (2014)
Torrey, L., Shavlik, J.: Transfer learning. In: Handbook of Research on Machine Learning Applications and Trends: Algorithms, Methods, and Techniques, pp. 242–264. IGI Global (2010)
Wang, W., Nonami, K., Ohira, Y.: Model reference sliding mode control of small helicopter XRB based on vision. Int. J. Adv. Robotic Syst. 5(3), 26 (2008)
Zhao, P., Chen, J., Song, Y., Tao, X., Xu, T., Mei, T.: Design of a control system for an autonomous vehicle based on adaptive-pid. Int. J. Adv. Robotic Syst. 9(2), 44 (2012)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Baskaran, A., Talebpour, A., Bhattacharyya, S. (2020). End-to-End Drive By-Wire PID Lateral Control of an Autonomous Vehicle. In: Arai, K., Bhatia, R., Kapoor, S. (eds) Proceedings of the Future Technologies Conference (FTC) 2019. FTC 2019. Advances in Intelligent Systems and Computing, vol 1069. Springer, Cham. https://doi.org/10.1007/978-3-030-32520-6_29
Download citation
DOI: https://doi.org/10.1007/978-3-030-32520-6_29
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-32519-0
Online ISBN: 978-3-030-32520-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)