Dynamic Backlash Mitigation Using Adaptive PID for Precision Steering in Autonomous Vehicles

Precision steering is crucial in autonomous vehicle control, where even minor inaccuracies can lead to significant navigation errors and compromised safety. This paper introduces a novel approach that integrates Adaptive Proportional-Integral-Derivative (PID) control with enhanced backlash compensation to improve steering accuracy in autonomous vehicles. The proposed method dynamically adjusts PID parameters in real-time based on the reference steering angle, ensuring optimal performance across various driving conditions. The backlash compensation mechanism effectively mitigates the nonlinearities caused by mechanical play in the steering system, a challenge that conventional PID controllers struggle to address. Simulation results demonstrate that the proposed adaptive PID-enhanced backlash compensation method significantly reduces lateral tracking errors. The system achieved a maximum lateral deviation of only 0.01 meters at speeds of up to 25 m/s, with a mean square error of 1.752e-08, ensuring precise path-following performance. These results highlight the robustness and effectiveness of this approach for enhancing precision steering in autonomous vehicles.