Abstract:

In order to improve the path following accuracy and stability of intelligent vehicles under different speeds and loads， a path following method of intelligent vehicles based on feedback pure tracking is proposed. Firstly， the factors affecting the control effect are analyzed based on the vehicle kinematic model and pure tracking model. Secondly， the forward-looking distance is adjusted dynamically according to the vehicle speed and path curvature， and the lateral error is used as feedback variable to compensate the traditional pure tracking control method. Then， the control parameters are determined through simulation tests， and the influence of the parameters on accuracy and vehicle stability of the path following is analyzed. Finally， a real vehicle test is conducted to verify the control performance of the method in real vehicle environment. The results show that the method has higher path-following accuracy and maintains good adaptability and stability under different speeds and loads.

Key words: intelligent vehicles, path following, pure tracking, dynamic forward-looking distance, feedback control