PID Controllers for Autonomous Vehicle Path Following

Sammanfattning: Autonomous vehicles are set to create a paradigmshift. Everyone could relax on their way to work and no accidentsdue to falling asleep behind the wheel would occur. For this tohappen the autonomous vehicle requires among many differentcomponents, a lane following system. In this paper such asystem is developed. First a mathematical model that describea vehicles behaviour is derived. Then a regulator structure withcontrollers and other components is developed. Finally the systemis implemented as a complete simulator that simulates the movingvehicle. Several different scenarios are tested and the performanceof the system is evaluated. A working simulator is achieved witha vehicle following the predefined path with little deviation, thesystems behaviour is also smooth. It is concluded that the proposedsolution is sufficient for moderates vehicle speeds, but at higherspeeds the mathematical model will not be accurate and theperformance of the system will be insufficient.