End-to-End Drive By-Wire PID Lateral Control of an Autonomous Vehicle

Akash Baskaran, Alireza Talebpour, Shankar Bhattacharyya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The number of autonomous vehicles with advanced driver assistance systems have been increasing multi-fold. These technologies have reduced the work of the driver and have increased the safety of roads. Though a lot work has been done on development of autonomous vehicles, not much attention has been given to the millions of existing cars without these features. In this paper, we propose a method to implement level 2 autonomy in vehicles without Advanced Driver assistance systems. In this work, steering control of vehicles using voltage spoofing (can be extended to throttle and braking modules), development of PID controllers for the modules, and implementation of end-to-end driving to enable autonomous applications have been discussed. By searching for the stabilizing set to find the controller parameters Kp, Ki, and Kd, the system response has been improved and by implementing transfer learning, training data required has been reduced, and thus end-to-end driving with comparable results have been obtained.

Original languageEnglish (US)
Title of host publicationProceedings of the Future Technologies Conference, FTC 2019 Volume 1
EditorsKohei Arai, Rahul Bhatia, Supriya Kapoor
PublisherSpringer
Pages365-376
Number of pages12
ISBN (Print)9783030325190
DOIs
StatePublished - Jan 1 2020
Externally publishedYes
Event4th Future Technologies Conference, FTC 2019 - San Francisco, United States
Duration: Oct 24 2019Oct 25 2019

Publication series

NameAdvances in Intelligent Systems and Computing
Volume1069
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365

Conference

Conference4th Future Technologies Conference, FTC 2019
Country/TerritoryUnited States
CitySan Francisco
Period10/24/1910/25/19

Keywords

  • End-to-end drive
  • PID controller
  • Transfer learning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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