Piecewise PID Control

We proposed a piecewise PID control algorithm to control the vehicle speed of the CAV owned by CATS lab, USF. The performance is farily good. The speed profile is very smooth. The attached two figures illustrate the speed tracking performance and trajectory trakcing performance of our CAV. The testing site is at USF Rocky Road.

Speed Tracking Performance
Speed Tracking Performance
Trajectory Tracking Performance
Trajectory Tracking Performance
Xiaowei(Tom) Shi
Xiaowei(Tom) Shi
Research Fellow

My research interests include connected, automated, modular, electric vehicle technologies.