Design of a Weighted Multi-Controller for Lateral Guidance of Autonomous Vehicles Using Steering Control

This study proposes a new approach to control the vehicle lateral position at all speeds. The influence of the longitudinal speed on the vehicle lateral dynamics is taken into account to the design of the controller. The strategy developed uses several PID, weighted in function of the longitudinal speed enabling the vehicle to drive either at high or low speed. A methodology based on stability margin is proposed in order to design the intervals of longitudinal speed used for the multi-controller. The multi-controller is compared to a single PID and a simulation shows that for an overtaking with speed variation, when the weighted multi-controller manage to track the desired trajectory, the PID alone cannot follow it.