TY - GEN
T1 - Lane Keeping Control Using Nonlinear Model Predictive Control on Constant Speed Autonomous Car
AU - Satria, Muhammad Azis
AU - Indriawati, Katherin
AU - Widjiantoro, Bambang Lelono
AU - Hija, Akhmad Ibnu
AU - Nurhadi, Hendro
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Lane keeping controller drives vehicle's steering to keep the vehicle driving on the track. This paper discusses lane control on a prototype autonomous car that moves at constant speed, using a nonlinear predictive control (MPC) model which is used to calculate the optimal steering angle based on lateral deviation information. The predictive lateral deviations are obtained from the linear parameter varying (LPV) model while the current lateral deviation value is obtained from the lane detection algorithm which produces a reference trajectory for the car. The lane detection uses image processing towards images captured by the camera. The real time experiment result shows that the proposed controller could keep the prototype to stay on track until the curvature of 0.27 m-1 with the maximum lateral deviation of 8.86 cm.
AB - Lane keeping controller drives vehicle's steering to keep the vehicle driving on the track. This paper discusses lane control on a prototype autonomous car that moves at constant speed, using a nonlinear predictive control (MPC) model which is used to calculate the optimal steering angle based on lateral deviation information. The predictive lateral deviations are obtained from the linear parameter varying (LPV) model while the current lateral deviation value is obtained from the lane detection algorithm which produces a reference trajectory for the car. The lane detection uses image processing towards images captured by the camera. The real time experiment result shows that the proposed controller could keep the prototype to stay on track until the curvature of 0.27 m-1 with the maximum lateral deviation of 8.86 cm.
KW - Autonomous Car
KW - Image Processing
KW - Lane Keeping Controller
KW - Model Predictive Control
UR - http://www.scopus.com/inward/record.url?scp=85138421108&partnerID=8YFLogxK
U2 - 10.1109/CyberneticsCom55287.2022.9865546
DO - 10.1109/CyberneticsCom55287.2022.9865546
M3 - Conference contribution
AN - SCOPUS:85138421108
T3 - Proceedings - 2022 IEEE International Conference on Cybernetics and Computational Intelligence, CyberneticsCom 2022
SP - 12
EP - 16
BT - Proceedings - 2022 IEEE International Conference on Cybernetics and Computational Intelligence, CyberneticsCom 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE International Conference on Cybernetics and Computational Intelligence, CyberneticsCom 2022
Y2 - 16 June 2022 through 18 June 2022
ER -