Several approaches exist for the lateral control of autonomous vehicles. Among them are the geometric approaches. They are shown to be robust to disturbances and able to manage complex tracks. Their main advantage lies on the fact that they are explainable, in the sense that their behavior can be analyzed to provide guarantees about their limitations. However, they do not give the quality of results that can be obtained using other control principles, mostly because of design issues. This paper aims to tackle these issues by proposing a novel geometric approach based on Frenet Serret formulas to reach the level of quality proposed by the other approaches, while still benefiting from the advantages of geometric approaches. A numerical analysis of the proposed control approach show its advantage: Simulation results and tests on a real autonomous car are provided.

存在用于自动驾驶车辆的横向控制的几种方法。其中包括几何方法。它们显示出对干扰的鲁棒性，并能够管理复杂的轨道。它们的主要优点在于它们是可以解释的事实，即可以分析它们的行为以提供有关其局限性的保证。但是，它们不能提供使用其他控制原理可获得的结果质量，这主要是由于设计问题。本文旨在通过提出一种新的基于Frenet Serret公式的几何方法来解决这些问题，以达到其他方法提出的质量水平，同时仍然受益于几何方法的优点。所提出的控制方法的数值分析表明了其优势：