Research on Path Planning and Trajectory Tracking of Autonomous Vehicle

Abstract

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