Robust PID Steering Control in Parameter Space for Highly Automated Driving

Abstract

This paper is on the design of a parameter space based robust PID steering controller. This controller is used for automated steering in automated path following of a midsized sedan. Linear and nonlinear models of this midsized sedan are presented in the paper. Experimental results are used to validate the longitudinal and lateral dynamic models of this vehicle. This paper is on automated steering control and concentrates on the lateral direction of motion. The linear model is used to design a PID steering controller in parameter space that satisfies <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M1"><mml:mrow><mml:mi>D</mml:mi></mml:mrow></mml:math>-stability. The PID steering controller that is designed is used in a simulation study to illustrate the effectiveness of the proposed method. Simulation results for a circular trajectory and for a curved trajectory are presented and discussed in detail. This study is part of a larger research effort aimed at implementing highly automated driving in a midsized sedan.