The Trajectory Tracking Method of Intelligent Vehicle Based on Optimality Control

摘要

Based on the linear quadratic optimal control method, according to the vehicle kinematic equations and trajectory tracking state, the optimal control of vehicle trajectory tracking is realized by adjusting the target weight coefficient at different speeds aiming at the comprehensive optimal target of the dynamic tracking error and controlling energy consumption. The simulation and experimental results show that the proposed method can be effectively applied to the straight and curve trajectory tracking of intelligent vehicles.