Recently, we can acquire a vehicle position on real time by the popularization of GPS(Global Positioning Systems).This paper describes about the vehicle stability effected by the time delay to calculate the position in GPS receiver at the lane change using the autonomous drive. From these studies it is found that practical delay time of stability boundary is 0.09s. Although, to adapt the PID control parameter with arbitrary time delay value, it is possible to estimate the convergence time and time delay value. It is found that relationships between the convergence time and time delay value are the proportional and the relationships are changed by the vehicle velocities.
