Open AccessImproving steering convergence in autonomous vehicle steering control
Author(s) -
Amir Ashraf Mohamad,
Fadhlan Hafizhelmi Kamaru Zaman,
Fazlina Ahmat Ruslan
Publication year - 2019
Publication title -
indonesian journal of electrical engineering and computer science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.241
H-Index - 17
eISSN - 2502-4760
pISSN - 2502-4752
DOI - 10.11591/ijeecs.v13.i1.pp279-285
Subject(s) - pid controller , control theory (sociology) , pulse width modulation , convergence (economics) , controller (irrigation) , steering wheel , signal (programming language) , torque steering , control engineering , engineering , computer science , control (management) , automotive engineering , temperature control , agronomy , electrical engineering , artificial intelligence , voltage , economics , biology , programming language , economic growth
Steering control is a critical design element in autonomous vehicle development since it will determine whether the vehicle can navigate safely or not. For the prototype of UiTM Autonomous Vehicle 0 (UiTM AV0), Vexta motor is used to control the steering whereas Pulse Width Modulation (PWM) signal is responsible to drive the motor. However, by using PWM signal it is difficult to converge to the desired steering angle and furthermore time taken for steering angle to converge is much longer. Thus, Proportional Integral Derivative (PID) has been introduced in this autonomous vehicle steering controller to improve the convergence of the steering. Meanwhile a microcontroller was used to control the Vexta Motor direction and perform the calculation of the desired steering angle. Simulation results showed PID controller showed better time taken and preicison of successful convergence of the desired steering angle compared to the PWM controller. Analysis results showed that PID controller significantly reduce the overshooting of steering angle and significantly improve the time taken for convergence by up to 37 seconds faster than PWM controller in UiTM AV0.