Table of Contents
International Journal of Vehicular Technology
Volume 2014, Article ID 259465, 8 pages
Research Article

Robust PID Steering Control in Parameter Space for Highly Automated Driving

1Department of Mechanical Engineering, İstanbul Technical University, 34437 İstanbul, Turkey
2Mekar Labs, İstanbul Okan University, 34959 İstanbul, Turkey
3Department of Control Engineering, İstanbul Technical University, 34469 İstanbul, Turkey
4Department of Mechanical Engineering, İstanbul Okan University, 34959 İstanbul, Turkey

Received 24 September 2013; Revised 27 November 2013; Accepted 29 November 2013; Published 4 February 2014

Academic Editor: Luis M. Bergasa

Copyright © 2014 Mümin Tolga Emirler et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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 -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.