Control method Advantages Disadvantages Reference
PID Controls are simple to use and do not rely on specific models. PID controller has the problem of poor bersatillity, and the control parameters tuning is more difficult. [108-111]
PP Its easy to use and the line speed is strictly on course, while the angular speed does not oscillate. It is difficult to apply to high-speed and large road curvature conditions. [112-114]
MPC It has the capability of handing system constraints and future prediction in the design process. It is difficult to analyze system stability and has high computational cost. [115,116]
Stanley It has a simple layout and is suitable for controlling the position of the vehicle. High requirement for smoothness of path and poor tracking performance when vehicle lateral accelerationg is high. [36,38]