Lane Keeping Maneuvers Using Proportional Integral Derivative (PID) and Model Predictive Control (MPC)

Safety has being a concern as result of the high rate road accidents and led to development driver assistance system such Active braking, Cruise Control, Lane departure warning lane keeping etc. become very active research area. However, this paper presents performance robustness analysis model predictive control proportional integral derivative for maneuvers an autonomous vehicle using computer vision simulation studies. A study was carried out where based on single tracked bicycle developed in MATLAB/SIMULINK environment together with dynamic system. Both PID controller MPC were simulated maintain desired reference trajectory by controlling steering angle. Further results show that proposed achieved its objective even though it less robust maintaining under various conditions like load change, different longitudinal speed cornering stiffness. While case optimizer made sure predicted future output tracks more same PID.