Path Planning and Trajectory Tracking Strategy of Autonomous Vehicles

With the development of global urbanization and construction regional urbanization, residents around urban cities are increasingly making demands on public transportation system. A new kind modern vehicle named Multi-Articulated Guided Vehicle based Virtual Track (MAAV-VT) with advantages beautiful, smart energy conservation environmental protection is proposed in this paper, which aims at optimizing system between within areas. Therefore, concentrating general design control strategy, main contents paper as follows. At first, concepts key technologies MAAV-VT introduced. It fusion rail transit operation mode advanced automotive technologies, have characteristics 100% low-floor, medium to high velocity, big capacity, low cost. Then, core subsystem, guarantee properties self-guiding trajectory tracking vehicle, focused dynamics kinematics model whole multi-articulated vehicle. The multi-trace-points cooperative strategy basis circulation feasible path generation method lateral controller designed for tracking. process conducted once error exceeded. simulation platform built considering mechanical each element characteristic articulated mechanism. Finally, function validated. elements would be reduced make sure moves along preset virtual track.