Yu-Cheng Huang｜Student, National Yilan Senior High School Yilan City, Taiwan｜stanely3636@gmail.com
Chao-Ming Huang*｜Teacher, Jhnog-Shan Elementary School Yilan City, Taiwan｜stanely503@gmail.com
*Corresponding author
▌Abstract
The research and development of self-driving cars has received increasing attention. Providing safer and more effective protection is one of the most important concerns in the development of self-driving cars, especially in complex transportation. This study explored the performance of braking systems with two different distance sensors and three autonomous control programs (PID control) in self-driving. Besides, this study revealed that the performance of precision and stability varied with different kinds of distance sensors. Due to the different detecting ranges, the ultrasonic sensor provided more reacting time than laser sensor. Moreover, the ultrasonic sensor would be interference with other objects. The laser distance sensor has better performance than the ultrasonic distance sensor in the aspects of precision in fixed object experiments. The performance of PID control revealed that the Proportional control is less stable. Besides, P control will be influenced by the ultrasonic distance sensor and it takes less breaking time than laser distance sensor. PI control (Proportional and Integral control) can stop the car faster than the other groups. PD control (Proportional and Derivative control) does not show great performance probably due to its lower gain setting on D.
Keywords：Robot, PID Autonomous Control, Sensor, Self-driving Car