PID Steering Control for Lane Keeping Assist based on IMU Sensor and ROS

This study presents the development and implementation of a PID steering control system for lane-keeping assistance using an IMU sensor and ROS (Robot Operating System). The system leverages the capabilities of the Teensy 4.1 microcontroller and the HWT905-TTL IMU sensor to maintain precise steering adjustments, crucial for autonomous vehicle applications. The PID controller, designed to respond dynamically to real-time feedback, ensures that the motor reaches designated target angles, even under varying test conditions. The control system was tuned experimentally to achieve optimal response times, resulting in a rise time of approximately 2 seconds, a steady-state error within ±1-2 degrees, and a maximum overshoot of 4.09%. Performance metrics such as the Integral of Squared Error (ISE) and the Integral of Time-weighted Squared Error (ITSE) further confirmed system accuracy and stability over time. Results indicate that the proposed control system effectively maintains lane-keeping with minimal error, demonstrating potential for future deployment in real-world autonomous driving scenarios. Future work will focus on enhancing system adaptability through advanced tuning techniques and sensor fusion to improve robustness in dynamic environments.