Design and Implementation of PID-Based Longitudinal and Lateral Con- trol for Small-Scale Vehicle

Resumo

The rapid advancement of technology has brought about significant transformations in various domains.
Electronics and embedded software reached a high-efficiency level, highlighting the need for their implementation
in vehicles. The automotive industry is increasingly recognizing the importance of integrating high-tech control
systems and driver assistance features to ensure safety and comfort. This study will present the development
of an electronic architecture for a small vehicle, comprising an integrated acceleration and braking system and
a steering system which will be controlled by two Electronic Control Units (ECUs). These ECUs will include
control algorithms based on PID (Proportional Integrative Derivative) controllers and the communication between
these units will be performed through the CAN (Controller Area Network) protocol. Virtual tools will be used for
accurate modeling and simulation of control systems, allowing the evaluation of subsystem behavior under various
input conditions. Furthermore, validation tests will be carried out on a small-scale vehicle equipped with embedded
systems. In this way, the use of PID controllers should present satisfactory results, reaching a harmonious balance
between performance and stability.