@ARTICLE{10.21494/ISTE.OP.2018.0301, 

TITLE={Comparison of control structures for autonomous vehicle lateral guidance}, 
  
AUTHOR={François Aioun, Xavier Moreau, André Benine-Neto, Nolwenn Monot, Audrey Rizzo, }, 
	
JOURNAL={Control}, 
	
VOLUME={2}, 

NUMBER={Issue 1}, 
	
YEAR={2018}, 

URL={http://www.openscience.fr/Comparison-of-control-structures-for-autonomous-vehicle-lateral-guidance}, 
	
DOI={10.21494/ISTE.OP.2018.0301}, 
	
ISSN={2631-4924}, 
	
ABSTRACT={The lateral dynamics of the vehicle is strongly impacted by the longitudinal speed bringing problems to trajectory tracking. In this paper, several control structures based on PID are compared for the lateral guidance of autonomous vehicle. It includes a classic PID, a nested loop and a multi-PID controller. A comparison is made through an overtaking simulation for different speeds. The paper highlights that a PID alone cannot guarantee the stability of the closed loop in every situation and that among the three structures, the multi-PID controller allows the best tracking.}}