CONTROL LOOP FOR NAVIGATING A VEHICLE

A system for navigating a vehicle may include a processor programmed to receive an output provided by a vehicle sensor, and determine a navigational maneuver for the vehicle along a road segment based on the output provided by the vehicle sensor. The processor may also be programmed to determine a yaw rate command and a speed command for implementing the navigational maneuver. The processor may also be programmed to determine a first vehicle steering angle based on the yaw rate and speed commands using a first control subsystem, and determine a second vehicle steering angle based on the yaw rate and speed commands using a second control subsystem. The processor may further be programmed to determine an overall steering command for the vehicle based on a combination of the first and second steering angles, and cause an actuator associated with the vehicle to implement the overall steering command.