A Fuzzy Control Based Self-Optimizing PID Model for Autonomous Car Following on Highway

Controlling real-time distances between vehicles is extremely significant for keeping safe driving on highway. At the same time, status of traffic stream, whole time delay and errors in controlling also have impacts on the control at a high driving speed. In this paper, a self-optimizing PID model based on fuzzy control is proposed for assisting a car to follow another one at a safe distance. The proposed model is established on a wireless sensor network sharing information for perceiving different status of traffic stream. In the designed experiment, the fuzzy PID controller is able to adapt nonlinear and time-varying features of behaviors in traffic stream. Comparing with general PID controllers, the fuzzy PID controller has a better performance on dynamic behaviors. According to comparison with the effects of controlling in different conditions, simulation results show that the proposed model is able to adjust and control the follower's behaviors in different situations on highway.