Perancangan Sistem Lane Keeping Assist Berbasis Model Predictive Control Pada Kendaraan Otonom

Evellyn, Evellyn (2026) Perancangan Sistem Lane Keeping Assist Berbasis Model Predictive Control Pada Kendaraan Otonom. Bachelor thesis, Institut Teknologi Kalimantan.

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Abstract

Perkembangan teknologi kendaraan otonom menuntut sistem kendali yang mampu menjaga kendaraan tetap berada pada jalurnya secara stabil. Lane Keeping Assist (LKA) merupakan salah satu fitur Advanced Driver Assistance Systems (ADAS) yang berfungsi mempertahankan posisi kendaraan di tengah jalur. Penelitian ini bertujuan merancang dan mensimulasikan sistem LKA berbasis Model Predictive Control (MPC) pada lingkungan CARLA Simulator dengan memanfaatkan kamera RGB sebagai sensor persepsi visual. Citra yang diperoleh kamera diproses menggunakan OpenCV untuk mendukung deteksi marka jalan, sedangkan pengendali MPC memanfaatkan deviasi lateral (lateral error) dan yaw error sebagai masukan untuk menghasilkan aksi kendali berupa sudut kemudi kendaraan. Untuk meningkatkan kehalusan respons kemudi, keluaran MPC diberikan proses steering smoothing menggunakan metode Exponential Moving Average (EMA). Pengujian dilakukan pada dua jenis jalur, yaitu jalur lurus dan jalur berbelok dengan variasi kecepatan 20 km/jam, 40 km/jam, dan 60 km/jam. Hasil pengujian menunjukkan bahwa sistem mampu mempertahankan kendaraan tetap berada pada jalur referensi pada seluruh skenario pengujian, dengan nilai Root Mean Square Error (RMSE) lateral error berkisar antara 0,0067–0,8654 m dan RMSE yaw error berkisar antara 0,000277–0,0834 rad. Selain itu, hasil perbandingan menunjukkan bahwa metode MPC menghasilkan performa pelacakan jalur yang lebih baik dibandingkan metode Proportional Integral Derivative (PID) pada sebagian besar skenario pengujian. Berdasarkan hasil penelitian yang diperoleh, MPC efektif diterapkan pada sistem Lane Keeping Assist untuk menjaga kestabilan posisi dan orientasi kendaraan terhadap jalur referensi pada lingkungan simulasi CARLA.

Item Type:	Thesis (Bachelor)
Subjects:	T Technology > T Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Jurusan Teknologi Industri dan Proses > Teknik Elektro
Depositing User:	Evellyn Evellyn
Date Deposited:	08 Jul 2026 05:16
Last Modified:	08 Jul 2026 05:16
URI:	http://repository.itk.ac.id/id/eprint/26029

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