农机使用与维修Issue(5)：27-32,6.DOI:10.14031/j.cnki.njwx.2026.05.007
基于TORCS与PID的汽车车道保持算法设计
Design of vehicle lane-keeping algorithm based on TORCS and PID
摘要
Abstract
Autonomous driving is an effective method to reduce road traffic accidents,improve traffic efficiency,and meet the diverse travel needs of passengers.It has become a key direction for the development of the automotive indus-try.As an important part of auto drive system,the research and application of self seeking algorithm is of great signifi-cance for improving the performance of automatic driving.This article designs the lane keeping function for intelligent driving,and uses the TORCS simulation platform to complete the self seeking algorithm simulation experiment.Based on the PID control algorithm,the lane keeping function is designed and implemented on the simulation platform.The main content includes designing a PID controller using Python language and selecting suitable parameters.Then,the simula-tion platform is used to verify and optimize the parameters through the experimental results.According to the experimen-tal results,the adjusted correlation coefficient is Kp=0.5、Ki=0.005、Kd=10.After the system quickly reaches stabili-ty,the distance between the car and the road axis is always zero,indicating that the lane keeping function has good con-trol effect,accuracy,and efficiency in action execution,meeting the design requirements.关键词
自寻道算法/智能转向/TORCS/车道保持Key words
self-tracking algorithm/intelligent steering/TORCS/lane keeping分类
交通工程引用本文复制引用
闫志强,张羽..基于TORCS与PID的汽车车道保持算法设计[J].农机使用与维修,2026,(5):27-32,6.基金项目
2024年度河南省科技攻关立项项目(242102240139) （242102240139）
