Abstract
With the continuous progress of science and technology, driverless vehicles have become one of the development trends of automobiles in the future. Path tracking control is a key problem in the research of driverless vehicles. Based on one control theory or by combining several different theories, different control algorithms are proposed, and some achievements have been made. This paper mainly studies the tracking control research method, which is a key problem in driverless vehicles. By analyzing and comparing the LQR control method and MPC control method, we compare their advantages and disadvantages, understand the concepts and related algorithms of various path-tracking control methods, and analyze the advantages and disadvantages of various control methods.
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