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End-to-End Drive By-Wire PID Lateral Control of an Autonomous Vehicle

  • Akash BaskaranEmail author
  • Alireza TalebpourEmail author
  • Shankar BhattacharyyaEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1069)

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.

Keywords

End-to-end drive PID controller Transfer learning 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Texas A&M UniversityCollege StationUSA
  2. 2.Zachary Department of Civil EngineeringTexas A&M UniversityCollege StationUSA
  3. 3.Electrical and Computer EngineeringTexas A&M UniversityCollege StationUSA

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