Research on Path Planning and Trajectory Tracking of Autonomous Vehicle

With the rapid development of world economy and science technology, intelligent era has kicked off, application automatic driving technology also attracted people's attention. Trajectory planning tracking control, as key technologies autonomous driving, determine safety stability vehicles during driving. Aiming at problems control robustness, research on structured road obstacle avoidance trajectory algorithm can effectively improve performance system vehicles. In this paper, path problem vehicle is studied, in order to reduce difficulty modeling controller performance, decoupled into horizontal vertical carried out respectively.