How to judge the positive and negative turning angle in PID vehicle lateral control

polyustanley

How to judge the positive and negative turning angle in PID vehicle lateral control [Copy link]

Recently, I designed a PID controller for vehicle lateral control on Simulink, where the input of PID is the cross track error (the lateral distance of the vehicle from the reference path), and the output of PID is the turning angle of the front wheel of the vehicle. So the question is, my output, that is, the turning angle of the front wheel of the vehicle, needs to be distinguished between positive and negative, because when executing, the car needs to know whether I should turn left or right, so how do I know whether my front wheel angle should be positive or negative? In other words, how do I judge whether my car is on the left or right of the reference path? The current pose (x, y, heading) of the vehicle and the pose (x, y, heading) of the reference path waypoint, as well as the speed are known. Thank you very much for your answers!