Vehicle lane keeping of adaptive PID control with BP neural network self-tuning

According to the nonlinear and parameter time-varying characteristics of vehicle lateral dynamics, a novel algorithm of vehicle lateral adaptive PID control with BP neural network was proposed, using the approximate ability to any nonlinear function of the neural network. The results of the simulation in different velocities and lane curvature conditions show that the algorithm can effectively control vehicle to keep and track the pre-given trajectory and the good robustness and adaptability for the changing of velocity and path curvature is also shown.