Research on PID-based Automatic Vehicle Steering System

With the development of automatic drive, the importance of automatic control has improved a lot to find out a rational steering control way. This research uses a traditional feedback control system- the PID control system to have a precise control on the position of the car. In this research, this research firstly use simulation to find the features of P control, D control, PD control, PI control, and PID control. And during the simulation part, this research tests different values of the parameter and to find the effect of each value, and simultaneously accumulates the experience on parameter settings. During the second part, this research chooses PD control system to control a real model car. By using camera to get the error of the position, this research use PD control to control the steering angle, and then adjust the parameter. After the whole research, this research find that the Proportional part can help the system to reach the target, and the bigger value of Kp is the faster response is, however, it will cause overshoot and oscillation. The Integral part can help to eliminate the steady error, but it will also cause oscillation. The derivative control can help have a faster response, and can help to suppress oscillation. In steering control system, PD control is the most effective way. And the Proportional control can help the car to turn in the curve, and the derivative control can help the car to have a faster response when entering the curve. After the part of parameter setting, the car finally has a smooth and sensitive steering.