Controller Design for Autonomous Vehicle

Control system is a vital part of an autonomous vehicle. It is responsible for passenger's safety and better navigation on roads. In this paper, a control system design is discussed, along with lateral and longitudinal control for the autonomous vehicle. A speed profile generator is used for calculating the speed for better stability of the vehicle. Through the paper, implementation of a PID controller with Stanley control is discussed. Mathematical modeling is performed for the controller to analyze the effect of external factors on the vehicle and the proposed system is later coded in python language and later tested through simulation on CARLA simulator and results are discusse.