Research on Intelligent Vehicle Trajectory Planning and Control Based on an Improved Terminal Sliding Mode

Aiming at precisely tracking an intelligent vehicle on a desired trajectory, this paper proposes trajectory planning and control strategy based improved terminal sliding mold. Firstly, the traditional RRT algorithm is by using target bias separation axis theorem to improve search efficiency. Secondly, mode controller designed. The comprehensively considers lateral error heading of control, stability system proven Lyapunov function. Finally, performance designed verified Matlab-Carsim HIL simulation platform. test results platform show that, compared with general controller, in has higher accuracy better robustness.