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All Journal Transmisi: Jurnal Ilmiah Teknik Elektro PROSIDING SENATEK FAKULTAS TEKNIK UMP JTET (Jurnal Teknik Elektro Terapan) Jurnal ULTIMA Computing Journal of Robotics and Control (JRC) Jurnal Sains dan Teknologi E-Link: Jurnal Teknik Elektro dan Informatika JAREE (Journal on Advanced Research in Electrical Engineering) Prosiding University Research Colloquium SNTE
Ari Santoso
Jurusan Teknik Elektro, Politeknik Negeri Semarang, Jalan. Prof. H.Sudarto Tembalang, Semarang, 50269
Aerospace Engineering Humanities Automotive Engineering Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Law, Crime, Criminology & Criminal Justice Mathematics Mechanical Engineering Medicine & Pharmacology Physics Social Sciences

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Journal : Jurnal ULTIMA Computing

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Predictive Control of Speed, Steering, and Braking For an Autonomous Car on Uphill and Downhill Road Aditya, Ryan; Santoso, Ari
ULTIMA Computing Vol 17 No 2 (2025): Ultima Computing: Jurnal Sistem Komputer
Publisher : Faculty of Engineering and Informatics, Universitas Multimedia Nusantara

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31937/sk.v17i2.4474

Abstract

Countries around the world have roads that go through mountains and hills. These roads can have features such as winding and change of elevation. When passing through such roads, the car’s dynamics are influenced by the unknown elevations and curvatures, which can threaten stability if not properly controlled. The purpose of this research is to control the cars longitudinal speed through acceleration, braking through regenerative braking and maintain lateral control through steering inputs. The proposed control system consists of a high-level predictive controller which predicts the car’s dynamics under varying road condition and a low-level Fuzzy-PID controller for the actuators, which is motor driver and electric power steering. Additionally, the energy recovery from the regenerative braking system is monitored to evaluate its impact on battery state of charge, especially when the car is slowing down or going through downhill roads. The control system proposed aims to maintain speed and steering stability under varying road conditions and improve energy efficiency.
Co-Authors Achmad Jazidie Aditya, Ryan Aris Triwiyatno Azka, Aida Daeng Supriyadi Pasisarha, Daeng Supriyadi Eriko Arvin Karuniawan FARRAS, ALIF AL H, Sidiq Syamsul Hady, Mohamad Abdul Hage, Giselle Hari Riyadi, Aji I Nyoman Sutantra Juwarta Juwarta, Juwarta Juwarta, Mohammad Nuh Nugraha, Yurid Eka Sahal, Mochammad syahid Syahid, syahid Syauqi, Muhammad Yavi Marsa Trihastuti Agustinah Winarno, Winarno Yusnan Badruzzaman, Yusnan