Optimal Control of Lane Keeping System Using Simulated Annealing and Linear Quadratic Regulator

被引：0
作者：
Sherif, Marihan M. [1 ]
Ahmed, Ahmed M. [1 ]
Moustafa, Ahmed M. [1 ]
Moness, Mohammed [1 ]
机构：
[1] Minia Univ, Fac Engn, Al Minya, Egypt
来源：
2019 15TH INTERNATIONAL COMPUTER ENGINEERING CONFERENCE (ICENCO 2019) | 2019年
关键词：
Advanced driver-assistance systems (ADAS); lane keeping systems (LKS); lateral vehicle control; linear quadratic regulator (LQR); optimal control; simulated annealing (SA); software-in-the-loop (SIL); TORCS;
D O I：
10.1109/icenco48310.2019.9027294
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
Advanced driver-assistance systems (ADAS) are currently trending in automotive industry requiring optimal designs for achieving sensitive performance. In this paper, an optimal controller is proposed for lane keeping system (LKS) based on linear quadratic regulator (LQR). Simulated Annealing (SA) algorithm is applied to effectively provide an optimal solution for the weighting matrices that aids obtaining an optimal gain matrix for the state feedback loop. The proposed approach has been evaluated and tested as a software-in-the-loop (SIL) on a The Open Source Racing Vehicle Simulator (TORCS) which is a high-fidelity nonlinear car simulator. The developed controller has achieved better performance and proven reliability over manually tuned LQR controllers.
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收藏
页码：157 / 161
页数：5
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