A path tracking control algorithm with speed adjustment for intelligent vehicle

摘要

An effective path tracking control algorithm with speed adjustment is proposed. Traditional algorithms only use kinematic characteristics and take no consideration of dynamic restrains. Besides, most of the earlier studies on steering control assume that the longitudinal speed is constant, which is not reasonable. In this paper, we use an improved CLA with a PID controller for tight path tracking, and suggest a feed-forward control method to eliminate the heading errors caused by dynamic conditions while tracking a desired path. Furthermore, the vehicle speed control strategy according to future path information is also proposed. Finally, the proposed algorithm is implemented on the intelligent vehicle BJUT-IV, experimental results show that the proposed algorithm achieves an accurate and effective path tracking, and improves in robustness and stability to dynamic effects.