  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 stability and passenger comfort are thoroughly analyzed and compared to
similar control structures. The results obtained both in simulation and with a
real vehicle show that the developed strategy tracks a large number of
trajectories with high degree of accuracy, safety and comfort.
