Trajectory tracking and control technology has always been a hotspot in the research of intelligent vehicles. Through 3 basic modeling methods, that is, geometric dynamics, kinematics and dynamics, the intelligent vehicle trajectory tracking control algorithm is classified, the principles, research status, advantages and disadvantages of various algorithms are explained in detail. On this basis, continue The improvement and optimization direction of the trajectory tracking algorithm and the research status of the improvement direction are discussed. Analysis of optimization and improvement methods shows that a single control method cannot meet the operational requirements of the actual scene of smart cars, the development of smart cars in the future tends to integrate multiple smart control algorithms to solve the shortcomings of a single control algorithm.

Intelligent vehicle  /  Track tracking  /  Algorithm research  /  Optimization method