Publication

Abstract : Autonomous cars are one of the fascinating technological trends in the present automotive industry. These cars enticed substantial attention in industry as well as in academia. It aims at safety regulations along with the emerging customary needs, traffic safety and transportation efficiency. In general, autonomous car integrates environmental perception, control and automatic driving modules for path tracking and effective navigation. The automatic driving module maneuvers the corresponding actuators according to the requisite of planning module, and ensure that the vehicle moves at the desired speed profile and path trajectory. This paper propounds closed loop PID control architecture for accurate steering, acceleration and braking control of an autonomous self-driving car designed from scratch. The control signals are triggered, when the perception module detects the lane and obstacle inputs. Then the actuators of the vehicle are controlled. Steering control subsystem constitutes a PWM motor, driving a steering linkage that eventually steers the front axle of the car. The steering subsystem receives the PWM input from the PID controller and outputs the current wheel angle. The closed loop PID controlling enables accurate steering control and hence efficient path tracking.