Speed and steering control system for self-driving car prototype

Abstract

A self-driving car is a vehicle that can run autonomously using a control. There are two systems that are controlled in this research. The first-speed control functions to regulate the speed and movement of the self-driving car prototype by adjusting the PWM value on the DC motor and second, the steering control uses the Ackerman steering system with a servo motor as an actuator. Both are arranged using fuzzy logic control methods that adapt from the habits in driving a car. the goal self-driving car prototype can walk to follow the track, maintain the robot car in the middle of the lane, can adjust the speed when turning and can stop when there are obstacles or traffic lights. The results of the control design testing in this study are, the average error value in the simulation is 0.771008 for the servo angle and 0.392072 for the speed. The error value in the programming algorithm is 0.149712 for servo angles and 0.198168 for PWM DC motors. Robot cars in accordance with the logic of the fuzzy rules made. Self-driving car prototypes can run turns and follow trajectories with a success rate of 93.33%. The distance between the robot car and the track is 1.83 cm inside the track and 0.03 cm outside the track. The self-driving car prototype can adjust its speed and can stop when there are obstacles with an average distance of 29.89 cm.