Model Predictive Control (MPC) and Proportional Integral Derivative Control (PID) for Autonomous Lane Keeping Maneuvers: A Comparative Study of Their Efficacy and Stability

The escalating frequency of fatal crashes has led to an enhanced focus on road safety, resulting in the creation of diverse driver assistance systems. Several instances of these systems encompass active braking, lane departure warning, cruise control, lane maintaining, and numerous additional examples. However, the primary objective of this research is to examine the effectiveness and reliability of a model predictive control (MPC) and a proportional integral derivative (PID) control in executing lane keeping maneuvers within an autonomous vehicle. In this paper, a custom controller for autonomous lane-changing maneuvers is developed by utilizing the Model Predictive Control (MPC) and Proportional-Integral-Derivative (PID) controllers. Different trajectory models are employed to assess the overall effectiveness of the designed model, showcasing its superiority over existing models.