An autonomous vehicle is a portable robot that combines multiple sensory navigation, intelligent decision making and
control technology. This paper outlines the design of AGV control system, for controlling the longitudinal speed. In this way, a
bicycle model is built to create a tracking problem and how to control the longitudinal speed in state space format. There are
frictional forces that are considered while changing the velocity. PI and PID controllers are used for the speed control. By
controlling the longitudinal speed of the autonomous car the results of the PI and PID controller are discussed. The relationship
of speed and gas pedal position has also been obtained so as to make the journey jerk free.
