In order to increase the number of situations in which an intelligent vehicle can operate
without human intervention, lateral control is required to accurately guide it in a reference
trajectory regardless of the shape of the road or the longitudinal speed. Some studies
address this problem by tuning a controller for low and high speeds and including an output
adaptation law. In this paper, a strategy framed in the Model-Free Control paradigm is
presented to laterally control the vehicle over a wide speed range. Tracking quality, system …