Research on Intelligent Vehicle Trajectory Tracking Control

Abstract In order to make the trajectory tracking of intelligent vehicle has good accuracy. this article, a horizontal and vertical cooperative control strategy is proposed. This measure takes dynamics model as research object, feedforward added lateral controller up for deficiency LQR tracking. The longitudinal dual PID algorithm used track in controller. CarSim with Simulink environment set simulation design five polynomial experiments. experimental results show that low-speed real driving conditions, method better accuracy stability there very good.