Extended Intelligent PI control for vehicle yaw-rate control of autonomous driving

A good vehicle yaw-rate controller must be designed to realize autonomous driving. The desired path planning can be realized when the desired yaw-rate response is achieved. In conventional methods, yaw-rate control based on PID control has been proposed. However, PID controller cannot realize the desired yaw-rate response in the case where the vehicle velocity varies. To solve this problem, we expanded the intelligent PI control to the vehicle yaw-rate control. The validity of the proposed approach was investigated via a vehicle simulator.