Lane Following Control for Intelligent Vehicle Based on Fuzzy Adaptive PID

In this paper,current and reference posture to develop the dynamic posture error of IV were selected,and simulink simulation model of IV has been constructed to lane following closed loop control system by the adopted posture error.Then fuzzy adaptive PID controller is designed.The parameters of PID controller are adjusted automatically by using fuzzy reasoning method.The simulation results,which are made respectively by using conventional PID and fuzzy adaptive PID control algorithms,show fuzzy adaptive PID has improved dynamic performance of controller and possesses preferable adaptive capacity.