Method and system for steering control of an autonomous vehicle using proportional, integral, and derivative (PID) controller

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of steering control of an autonomous vehicle, the operations comprising:

• calculating a first steering angle based on a target directional angle and an actual directional angle of the autonomous vehicle to maneuver an obstacle course;
• calculating a second steering angle based on a target lateral position and an actual lateral position of the autonomous vehicle to maneuver the obstacle course;
• determining a next target steering angle based on the first and second steering angles;
• and
• controlling a subsequent steering angle of the autonomous vehicle based on the next target steering angle.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations of steering control of an autonomous vehicle, the operations including
• calculating a first steering angle based on a target directional angle and an actual directional angle of the autonomous vehicle to maneuver an obstacle course;
• calculating a second steering angle based on a target lateral position and an actual lateral position of the autonomous vehicle to maneuver the obstacle course;
• determining a next target steering angle based on the first and second steering angles;
• and
• controlling a subsequent steering angle of the autonomous vehicle based on the next target steering angle.