Lane Keeping Method based on MIMO Model-Free Adaptive Control

In order to prevent drivers from lane deviation due to distraction or incorrect operation and reduce the probability of traffic accidents, so the research on lane keeping is of great significance. In this paper, a lane keeping method based on MIMO model-free adaptive control is proposed. Traditional lane keeping control methods all need to establish the mathematical model of the controlled vehicle, however, the establishment of the mathematical model of the controlled vehicle needs to take into account a number of factors and physical principles, such as vehicle dynamics, environmental factors, etc., which ultimately results in the lack of precision in the establishment of the model. The lane keeping control method proposed in this paper has the following characteristics: the design of the controller does not need the mechanistic model of the controlled vehicle, and only the input and output data generated by the controlled vehicle is needed to design the controller, which can realize the control of the controlled vehicle, and the control system is easy to design, with a small amount of computation, and easy to be realized in the field. Finally, it is concluded through experiments that the proposed method has better lane keeping control effect compared with PID control algorithm.