Research on Nonlinear Trajectory Tracking Control Method for Autonomous Vehicles

Abstract

The trajectory tracking model of autonomous vehicles is usually simplified to a linear model, and then the matching controller is designed. However, the simplification process of the model requires a lot of assumptions, which are difficult to be established. For this reason, a nonlinear trajectory tracking control method is proposed. Firstly, a system error dynamics model is established based on the vehicle kinematics model and dynamics model, and the steady state control law for the vehicle trajectory tracking control is deduced on this basis. Then, the compensation control law based on the vehicle lateral displacement error is further designed to improve the system’s anti-interference. The effectiveness of the proposed control method is verified by comparing with the commonly used controllers for vehicle trajectory tracking, and the results show that the control accuracy and convergence speed of the proposed control method are effectively improved.