The Steering Actuator System to Improve Driving of Autonomous Vehicles based on Multi-Sensor Data Fusion

Abstract

In autonomous vehicles, the control unit must be based on two main goals, first maintains the stability of the car second follows the desired path. All things considered, the controller's effectiveness is heavily dependent on the details of the steering system actuators. The necessary steering is set by a higher-order controller. The time delay of the steering actuator is one of the main features affecting the performance of the controller. While the artificial intelligence and artificial ethic are new apparatuses in autonomous vehicles but their ICs and electrical component are exposed to fusion. This paper primarily presents a more reliable system work during the fusion of multi-sensor information. We design the requirements of the steering system and the sureness of stability control in autonomous vehicles, also finding the suitable parameters for high-level control algorithms to compensate for time delay and ensure vehicle stability. The vehicle's steering angle response was obtained by testing the actuator of electric power steering (EPS) undergoing different speeds. In fact, using the identification of the system has been beneficial because obtaining the transfer function is easier than the actual methods which need the implementation of a mathematical model of the system. The system response of the Input-output has been defined via MATLAB. Full vehicle model simulation results indicate that the found adjustment parameter improves lane-tracking performance in a basic architecture by reducing oscillation and lateral error relative to other instances. The simplified steering system is the primary improvement brought by this effort.