Investigation on Lane Changing Manoeuvres of an Autonomous Vehicle by Using Model Predictive Control (MPC) and Proportional-Integral-Derivative Control (PID) for Steer-by-Wire (SBW) System

Abstract

AbstractLane changing is one of the crucial tasks for an autonomous vehicle to avoid an obstacle. This task can be performed by controlling the throttle, brake, and steering actuators appropriately based on the analysis of the vehicle’s surroundings. The problem with lane changing is that the control strategy is too complex and needs a high processor for real-time data analysis. In addition, lane changing involves high-level control for vehicle trajectory and low-level control for controlling the steering actuator. This study proposed a well-known method, namely Model Predictive Control (MPC), to determine the vehicle’s lateral position and yaw angle during lane changing maneuver. The optimum steering angle command can control the steer-by-wire (SBW) system from the lateral position and yaw angle in MPC. The Proportional-Integral-Derivative (PID) controller is implemented to control the steering wheel angle in the SBW’s system. Then, the SBW system will turn the wheel of the vehicle plant. From the simulation result, the PID controller can converge the error although the vehicle’s speed is increasing. The result shows that the mean absolute error (MAE) of the SBW system decreases slightly from 0.0115 to 0.0079 as the speed increase from 16 to 41 km/h. From this study, it can be concluded that the MPC and PID controllers can control the vehicle’s trajectory during lane changing by calculating an optimum lateral motion and yaw angle to provide an optimum steering angle for the vehicle to change lanes successfully.KeywordsSteer-by-wire (SBW)Model Predictive Control (MPC)PID controlLane changingAutonomous vehicle