Feedback PID Steering Controller - Cars & Trucks

A Proportional-Integral-Derivative (PID) steering controller is a feedback controller that computes a vehicle steering input using the error, the integral of error, and the rate of change of error between the desired vehicle path and the actual vehicle position.

To use a PID control you enter proportional (KP), integral (KI), and derivative (KD) gains, the Demand Path similarly with the Feed-forward steering controller and the type of the controller. The Altair Driver then applies the Proportional-Integral-Derivative (PID) control law to calculate the steering signal.

The controller block for PID steer controller is given below:
[PID_STEER_CONTROLLER]                                                                      
TAG             = 'PID'
TYPE            = 'FOLLOW_PATH'        
PATH            = 'PREDEFINED'
BLOCK           = 'PATH'
KP              = 0.2
KD              = 1.0
KI              = 0.0
[FEEDFORWARD LONGITUDINAL CONTROLLER]
TAG Attr - string REQUIRED

<PID>
TYPE Attr - string REQUIRED

<FOLLOW_PATH>
I_ACTIVE_BAND Attr - real OPTIONAL
  • Band in which integral control is activated.
If absent:
  • Integral gain is always active. May lead to overcompensation.
KP Attr - Real OPTIONAL
  • Proportional gain
If absent:
  • KP = 0
KD Attr - Real OPTIONAL
  • Differential gain
If absent:
  • KD = 0
KI Attr - Real OPTIONAL
  • Integral gain
If absent:
  • KI = 0
INITIAL_ERROR Attr - Real OPTIONAL
  • Integral gain
If absent:
  • INITIAL_ERROR = 0