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