Accurate control of driving dynamics is crucial in developing high-performance autonomous vehicles, such as those used in Formula SAE Driverless competitions. In this study, a Proportional-Derivative (PD) controller is designed to adjust the trajectory of a Formula SAE self-driving vehicle. The PD control is chosen for its simplicity and reliability in providing a good compromise between responsiveness and system stability. The algorithm is designed to act on the steering box pinion, correcting trajectory errors through a feedback and feedforward approach. The results show the effectiveness of PD control in keeping the vehicle on track accurately, paving the way for further development with more advanced control strategies for improving dynamic performance.