Improving steering convergence in autonomous vehicle steering control

Amir Ashraf Mohamad, Fadhlan Hafizhelmi Kamaru Zaman, Fazlina Ahmat Ruslan

Abstract


Steering control is a critical design element in autonomous vehicle development since it will determine whether the vehicle can navigate safely or not. For the prototype of UiTM Autonomous Vehicle 0 (UiTM AV0), Vexta motor is used to control the steering whereas Pulse Width Modulation (PWM) signal is responsible to drive the motor. However, by using PWM signal it is difficult to converge to the desired steering angle and furthermore time taken for steering angle to converge is much longer. Thus, Proportional Integral Derivative (PID) has been introduced in this autonomous vehicle steering controller to improve the convergence of the steering. Meanwhile a microcontroller was used to control the Vexta Motor direction and perform the calculation of the desired steering angle. Simulation results showed PID controller showed better time taken and preicison of successful convergence of the desired steering angle compared to the PWM controller.  Analysis results showed that PID controller significantly reduce the overshooting of steering angle and significantly improve the time taken for convergence by up to 37 seconds faster than PWM controller in UiTM AV0.


Keywords


PWM; PID Controller; Vexta Motor; Arduino Mega

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DOI: http://doi.org/10.11591/ijeecs.v13.i1.pp279-285

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Indonesian Journal of Electrical Engineering and Computer Science (IJEECS)
p-ISSN: 2502-4752, e-ISSN: 2502-4760
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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