Lead compensator with proportional derivative control for lane keeping assistance system in presence of road disturbances

Advanced Driver Assistance Systems (ADASs) hold the potential to significantly reduce the number of road fatalities while enhancing vehicle safety and stability. A prominent feature of ADAS is the Lane Keep Assistance System (LKAS), designed to prevent unintended lane departures and ensure vehicles stay within their designated lanes, thereby safeguarding passengers. This research is centered on developing a lead/lag compensator for the robust design of a PID controller dedicated to lane keeping assistance control. The compensator-PD controller enhances lane tracking performance while ensuring vehicle stability is maintained. The gains of the PD controller are tuned using the Ziegler–Nichols method to achieve robustness in presence of road disturbances. The performance of the proposed controller was compared with that of a PID controller without any compensator and a fuzzy PID controller across variable speed conditions and the presence of sharp road curvature disturbances. Based on extensive simulation studies in MATLAB/SIMULINK environment the performance of all above controllers was evaluated. The proposed compensator based controller outperforms the existing designs by ensuring minimum tracking error.