Self-Driving Car Lane-keeping Assist using PID and Pure Pursuit Control

Detection of lane boundaries is the primary role for monitoring an autonomous car's trajectory. Three lane identification methodologies are explored in this paper with experimental illustration: Edge detection, Hough transformation, and Birds eye view. The next step after obtaining the boundary points is to add a regulation rule to effectively trigger the regulation of steering and velocity to the motors. A comparative analysis is made between different steering controllers like PID or by using PID with a pure pursuit controller for the Lane Keeping Assist (LKA) system. A camera that sends wireless data to ROS via Nvidia Jetson Nano is used to obtain environmental information. The data is interpreted by the processor, which transmits the desired output control via rosserial communication to Arduino.